摘要
针对电流变流体驱动的软体机器人目前存在的如软体易损坏、复杂的腔体更换成本高、电流变液难以制得等诸多问题,提出一种由电流变阀门控制的软抓取器。该软抓取器使用了模块化的思想,将控制系统集中在了电流变流体控制阀中,而软体手指则是标准件,具有便于装配更换、控制系统简单的优点。电流变效应是指在外加电场作用下,电流变流体会由自由流动状态瞬间变刚度,呈现出凝固状态,当外加电场消失,又能迅速复原。为利用电流变效应去设计控制阀门系统,进行了电流变流体变刚度性能试验,通过试验讨论了不同影响因素对电流变流体变刚度能力的影响。试验结果表明,电场强度、两电极板之间的距离、电极的长度、电极的宽度、硅油的黏度对电流变流体变刚度性能产生不同的影响。通过试验结果,可以筛选出电流变流体工作的最优环境条件。此外,由电流变阀门控制的软抓取器可以通过控制流体的流动方向来控制机械手的抓取模式。软抓取器样机试验验证了其对不同形状物品的抓取能力。
A soft gripper controlled by an electro-rheological valve is proposed for the current problems of electro-rheological fluid-driven soft robots,such as easy damage of soft body,high cost of complex cavity replacement,and difficulty of electro-rheological fluid production.This soft gripper uses the idea of modularity and concentrates the control system in the electro-rheological fluid control valve,while the soft fingers are standard parts,which has the advantages of easy replacement and simple control system.The electro-rheological effect means that when the electric field is applied,the electro-rheological fluid will instantly become rigid from the flowing state,showing a solidified state,and then rapidly recover when the applied electric field disappears.To use the electro-rheological effect to design a control valve system,an experiment to test the variable stiffness capability of the electro-rheological fluid is first conducted,and through the experiment,the influence of different factors on the variable stiffness capability of the electro-rheological fluid is discussed.The experiment results show that the electric field strength,the distance between the two electrodes,the length of the electrode,the width of the electrode,and the viscosity of the silicone oil have different effects on the variable stiffness capability of the electro-rheological fluid.With the results of this experiment,the optimal environmental conditions for the operation of the electro-rheological fluid can be screened.In addition,the soft gripper controlled by the electro-rheological valve can control the gripping mode of the actuator by controlling the flow direction of the fluid.The soft gripper prototype test verifies its gripping capability for different shapes of items.
作者
甘文萱
GAN Wenxuan(City University of Hong Kong,Hong Kong 999077,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2024年第1期188-193,242,共7页
Journal of Ordnance Equipment Engineering
