| 李泽桐,郑义骁,许宗贵,蔡世波,鲍官军.一种多腔室气动软体驱动器的设计与建模研究[J].高技术通讯(中文),2026,36(7):751~758 |
| 一种多腔室气动软体驱动器的设计与建模研究 |
| Design and modeling of a multi-chamber pneumatic soft actuator |
| |
| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 07. 009 |
| 中文关键词: 软体驱动器； 仿生结构； 可变刚度； 运动学模型 |
| 英文关键词: soft actuator, biomimetic structure, variable stiffness, kinematic model |
| 基金项目: |
| 作者 | 单位 | | 李泽桐 | (浙江工业大学机械工程学院杭州 310023) | | 郑义骁 | | | 许宗贵 | | | 蔡世波 | | | 鲍官军 | |
|
| 摘要点击次数: 67 |
| 全文下载次数: 47 |
| 中文摘要: |
| 针对目前软体驱动器自由度单一和数学建模研究不足的问题，提出了一种可变刚度的多腔室气动软体驱动器。该驱动器仿照章鱼腕足的生物结构，设有1个刚度调节腔和3个弯曲驱动腔，内嵌约束弹簧，由多腔气压耦合驱动，能够实现任意方向上的弯曲运动。基于驱动器变形后的几何构型分析以及等效弹簧模型，建立了软体驱动器的静态模型和运动学模型，给出了输入气压与弯曲几何参数之间的映射关系。搭建实验系统进行了静态模型验证实验和静态控制弯曲实验，结果表明，在0.200MPa的气压范围内，实验数据与理论数值基本一致，验证了理论模型的正确性。 |
| 英文摘要: |
| Aiming at the current problems of soft actuators with single degree of freedom and insufficient research on mathematical modeling, a multi-chamber pneumatic soft actuator with variable stiffness is proposed. The actuator is inspired by the biological structure of octopus’s arms. It is equipped with one stiffness adjusting chamber and three bend driving chamber. It is embedded with restraint springs and driven by coupling of multi chamber air pressure, which can achieve bending motion in any direction. Based on the deformed geometric configuration analysis of the actuator and the equivalent spring model, the static model and kinematic model of the soft actuator are established, and the mapping relationship between the input air pressure and the bending geometric parameters is given. An experimental system is built to conduct static model verification experiments and static controlled bending experiments. The results show that within the air pressure range of 0.200MPa, the experimental data are basically consistent with the theoretical values, verifying the correctness of the theoretical model. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
|
|
|
