Design and Experimental Analysis of Soft Actuator
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摘要: 设计了一种类似于手指的末端执行器结构, 包含3个"关节", 由邵氏硬度为83 A的热塑性弹性体(TPE)3D打印而成。因成型温度等因素对材料结构参数的影响, 通过拉伸试验获取应力应变曲线, 计算出基于Mooney-Rivlin模型下当前材料参数C10、C01, 籍此有限元软件仿真分析其弯曲性能, 进行弯曲性能试验对比分析有限元仿真结果。搭建试验台架进行抓取试验, 有效抓取0~100 g范围内的试验物体。Abstract: A kind of soft actuator structure similar to human finger is designed, which contains three ″joints″. It is made of thermoplastic elastomer (TPE) with a shore hardness of 83A. Due to the influence of the forming temperature and other factors on the structural parameters of the material, the stress-strain curve was obtained via tension test, on Mooney Rivlin model, the material parameters C10 and C01 are calculated via tension test, and the bending performance is analyzed with the finite element software. To compare and analyze the finite element simulation results, the bending performance experiment is carried out. The experimental platform was built to grasp the experimental objects in the range of 0-100 g.
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Key words:
- pneumatic soft actuator /
- finite element analysis /
- 3D printing /
- grasping experiment
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表 1 软体执行器尺寸参数
参数 数值/mm 参数 数值/mm 底部长度L1 80 执行器高度H1 20 顶部长度L2 60 关节左高度H2 6 关节外长度L3 15 壁厚T1 2 关节内长度L4 8 限制层厚T2 2.4 关节间隙L5 1 充气孔直径D 4 
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表 3 不同压强下仿真与试验弯曲角度
充气压强/MPa 仿真弯曲/(°) 试验结果/(°) 0 0 0 0.02 2 1 0.04 4 3 0.06 6 4 0.08 9 6 0.10 11 7 0.12 14 10 0.16 18 12 0.18 19 13 0.20 21 15 0.22 23 16 0.24 26 18 0.26 27 21
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表 4 抓取物品尺寸及质量
物品 尺寸/mm 质量/g 猕猴桃 50×30×45 60 气阀转接口 20×20×35 45 鼠标 88×11×30 98 电蚊香 40×20×80 75
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