Flexible Soft Actuator of Multi-joint Finger-like Structure
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摘要: 在目前的研究中心，软体夹持执行器一般采用气动的形式进行控制，具有延展性的优点。在这一特征的改进与提升下，通过模仿人手多关节的特点，开发了一种由多种软复合材料构成的新型软体执行器，通过围绕空腔缠绕的细线施加的环向束缚，提高驱动部分的径向驱动力。因此在保持原有柔软性的前提下，可以通过提高主体部分的弯曲角实现夹持性能的提高。并建立D-H运动学模型，对本结构的位姿进行了较为准确的描述。最后通过实验测量了各关节的弯曲角与机构的夹持性能，证明该结构设计在实际应用中是可被广泛应用的。Abstract: In the current research center, the soft actuator is generally controlled with the pneumatic method, which has the advantage of ductility. With the improvement and promotion of this advantage, the authors have developed a new soft actuator composed of a variety of soft composites by imitating the characteristics of a multi-jointfinger-like structure. The radial driving force of the driving part is improved by the circumferential binding of the fine line wound around the cavity. Therefore, on the premise of maintaining the original softness, the clamping performance is improved by improving the bending angle of the main part. The D-H kinematics model is established toaccuratelycalculate the pose of the structure. Finally, the bending angle of each joint and the clamping performance of the mechanism are measured by experiments, which prove that the structural design can be widely used in practical application.
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表 1 Mooney_Rivlin模型参数
材料 C10 C01 C20 Ecoflex 00-50 $ 3.53 \times {10^{ - 2}} $ $ - 1.05 \times {10^{ - 1}} $ $ 4.77 \times {10^{ - 5}} $ Mold Star 30 $ 2.20 \times {10^{ - 1}} $ $ - 3.84 \times {10^{ - 1}} $ $ 1.08 \times {10^{ - 5}} $ 
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