Design and Research of Novel Soft Actuator
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摘要: 现有软体机器人的驱动器结构大多为纤维增强型和多腔体型,针对此类软体驱动器存在的问题,开展新型软体驱动器的研究。首先介绍了新型软体驱动器结构的设计思路,为进一步研究结构的合理性,进行了基于Yeoh模型的软体驱动器弯曲特性理论的分析,得到曲率半径与充气压强之间的数学模型,并通过软体驱动器的制作和实验平台的搭建对理论模型进行验证,证明了结构模型的正确性。Abstract: The drive structure of the existing soft robots is mostly fiber-reinforced and multi-cavity types. For the soft actuators, a novel soft actuator is developed. Firstly, the design idea of the novel soft actuator structure is introduced. In order to further study the rationality of the structure, the analysis of the bending characteristics of the soft actuator via Yeoh model is carried out, and the relationship model between the radius of curvature and the inflation pressure is obtained, and the soft actuator is used. The construction of the production and experimental platform validates the model and proves the correctness of the structural model.
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Key words:
- soft actuator /
- Yeoh model /
- bending characteristics /
- experiment verification
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表 1 仿竹节式软体驱动器参数
mm 参数 数值 驱动器内芯/L0 115 空腔半径/r1 4.5 内芯半径/r2 6.5 空腔基底厚/B 2 竹管宽度/D1 3.6 竹节厚度/D2 8.8 表 2 弯曲角度与输入气压的关系对比
P/kPa θ计/rad θ实/rad 相对误差/% 0 0 0 0 10 0.323 80 0.352 53 8.872 76 20 0.661 67 0.701 57 6.030 30 30 1.016 82 1.095 99 7.785 65 40 1.390 15 1.469 46 5.705 07 50 1.783 39 1.902 27 6.665 89 60 2.198 52 2.443 28 11.132 99 70 2.637 82 2.984 29 13.132 83 -
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