柔性充气操控臂转动行为数值模拟与试验  

Numerical and Experimental Studies on Rotational Behavior of a Flexible Inflatable Manipulation Arm

作　　者：刘彧[1] 张大旭[1] 陈务军[1] 何世赞 邱振宇[1] 高成军[1] LIUYu ZHANG Daxu CHEN Wujun HE Shizan QIUZhenyu GAOChengju(Space Structures Research Centre, Shanghai Jiaotong University, Shanghai 200240, Chin)

机构地区：[1]上海交通大学空间结构研究中心,上海200240

出　　处：《上海交通大学学报》2016年第12期1823-1830,共8页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(11272207;51278299)资助项目

摘　　要：为减小充气臂转动驱动力矩,设计了类似宇航服关节的带有褶皱构造的充气膜关节及绳驱动转动装置.进行了充气臂柔性PVC织物膜材的双轴拉伸和剪切试验,基于正交异性假设计算得到了适宜充气臂双向张力和褶皱状态下膜材的弹性常数.建立了充气臂结构的有限元模型并进行了转动数值模拟和参数分析,将模拟结果与无褶皱构造的圆柱形关节理论分析结果进行了对比,表明褶皱构造关节的弯曲驱动力矩降低很多,实现了低驱动力矩的设计目标.设计和制作了充气臂样机并开展了试验研究,验证了充气臂转动数值模拟的准确性.This paper presented the development of a novel flexible inflatable Manipulation arm. Both straight beams and rotational joints are made of air-inflated membrane units. In order to minimize the actuation moment, a rotational joint with creases, analogous to spacesuit elbow, was developed. Besides, a tendon driven system was also developed to actuate the arm rotation. Biaxial tension and shear tests were conducted on the flexible PVC fabric of the inflatable arm, and the elastic constants of the membrane materials were obtained according to the orthotropic assumption. Moreover, a finite element model was created to simulate the rotational performance of the inflated arm. The simulation results are compared with those obtained for cylindrical joints with no creases, and the former configuration results in a much lower actua- tion torque, which well satisfies the design goal for the rotational joint. Furthermore, a prototype of the inflatable arm was designed and made to perform an experimental investigation, and the accuracy of the numerical simulation was validated by the test data.

关 键 词：柔性充气臂 褶皱关节 关节转动 驱动力矩 转动模拟 双轴试验 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]