[1]李 旭,刘 胜.三腔道软体驱动器弯曲预测方法的研究[J].机械与电子,2023,41(12):10-14.
　LI Xu,LIU Sheng.Research on Bending Prediction Method of Three-chamber Soft Actuator[J].Machinery & Electronics,2023,41(12):10-14.
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三腔道软体驱动器弯曲预测方法的研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年12期
页码:
10-14
栏目:
研究与设计
出版日期:
2023-12-30

文章信息/Info

Title:
Research on Bending Prediction Method of Three-chamber Soft Actuator
文章编号:
1001-2257 ( 2023 ) 12-0010-05
作者:
李 旭; 刘 胜
上海工程技术大学机械与汽车工程学院,上海 201620
Author(s):
LI Xu ;  LIU Sheng
( School of Mechanical and Automobile Engineering , Shanghai University of Engineering Science , Shanghai 201620 , China )
关键词:
软体驱动器; 三腔道软体; 矢量方程法; 有限元仿真
Keywords:
soft actuator ;  three-cavity soft ;  vector equation method ;  finite element simulation
分类号:
TP242
文献标志码:
A
摘要:
三腔道软体驱动器为软体驱动器最具应用潜力的结构特征之一,现有三腔道软体驱动器空间变形力学特性研究中,仍缺乏一个简单有效的变形预测方法。针对这一问题,在分析三腔道软体驱动器空间变形原理的基础上,提出矢量方程法;然后,基于三腔道软体驱动器的单个腔道通入气压形变效果的基础上,结合矢量方程法建立了气压与软体驱动器末端空间位置和变形轨迹的非线性数学模型;最后,开展对三腔道软体驱动器的有限元仿真及实验验证。结果表明,基于矢量方程法所建立的数
Abstract:
As one of the most promising structural features of three-cavity soft actuators , there is still a lack of a simple and effective deformation prediction method in the research on the spatial deformation mechanical characteristics of existing three-cavity soft actuators.To cope with this problem , firstly , the vector equation method is proposed based on the principle of spatial deformation of the soft actuator.Sec- ondly , a nonlinear mathematical model of the spatial position and deformation trajectory of the air pressure and the end of the soft actuator was established based on the deformation effect of the air pressure passed into the single cavity of the three-cavity soft actuator , combined with the vector equation method.Finally , the finite element simulation and physical experiments of three-cavity soft actuator is completed.The results show that the mathematical model established based on the vector equation method can better predict the spatial deformation trajectory of the actuator , which provides a new research method for studying the spatial deformation of the three-cavity soft actuator.

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备注/Memo

备注/Memo:
收稿日期: 2023-06-11
基金项目:国家自然科学基金青年基金( 11604205 )
作者简介:李 旭 ( 1995- ),男,广西贺州人,硕士研究生,研究方向为软体机器人技术;刘 胜 ( 1972- ),女,湖南长沙人,副教授,研究方向为软体机器人。
更新日期/Last Update: 2024-01-10