多腔体软体驱动器负载抓持变形特性研究  

Investigation on the Deformation Characteristics of Multi-chamber Soft Actuators in Grasping

作　　者：涂琴[1] 岳东海[1] 王延杰[2] 刘光新[1] TU Qin;YUE Dong-hai;WANG Yan-jie;LIU Guang-xin(School of Intelligent Equipment,Changzhou College of Information Technology,Changzhou,Jiangsu 213164;School of Mechanical and Electrical Engineering,Hehai University,Changzhou,Jiangsu 213022)

机构地区：[1]常州信息职业技术学院智能装备学院,江苏常州213164 [2]河海大学机电工程学院,江苏常州213022

出　　处：《液压与气动》2019年第12期68-74,共7页Chinese Hydraulics & Pneumatics

基　　金：江苏省高校自然科学研究项目面上项目(16KJB460025);江苏高校”青蓝工程”[苏教师(2019)3号];常州信息职业技术学院青年基金(CXZK201706Q);常州信息职业技术学院2018年度校级科研平台(KYPT201801G)

摘　　要：为揭示工作压力与负载的作用对多腔体软体驱动器变形的影响规律,建立了多腔体软体驱动器变形评价指标,包括末端轨迹、末端接触力、曲率半径和腔体拟合圆直径4个指标。基于不同负载和工作压力下的试验结果,采用拟合的方法建立了多腔体软体驱动器曲率半径与工作压力、负载的关系模型,并采用该模型对不同负载下的驱动器曲率半径变化曲线进行预测。分析结果表明,曲率半径拟合数学模型试算结果与试验结果吻合度较高。负载的增大使多腔体软体驱动器的末端轨迹变化范围明显减小、线性度增加;曲率半径随工作压力的增加呈指数下降的趋势,曲率半径和末端轨迹受负载作用的非线性都较强;工作压力和负载对腔体拟合圆直径的影响呈相反的趋势。该研究能为不同用途下多腔体软体驱动器的设计与精确控制提供参考。In order to investigate in the effect of different pressures and load masses on the deformation characteristics of multi-chamber soft actuators, four evaluation indicators are proposed. The indicators include the end-effector trajectory, the contact force at the end of the actuator, the curvature radius of finger and the diameter of the regressed deformed chamber. Based on the experimental results, the mathematical model for the curvature radiuses of finger under different pressures and loads is established with the regression method. The analyses indicate that, the calculated results of the curvature radius of finger obtained with the regressed mathematical model is in a good consistence with the test results. A greater load mass will lead to a narrower and linear range of the end-effector trajectory. The increase of the working pressure will decrease the curvature radius of finger exponentially, the load mass shows nonlinear impact on the curvature radius of finger and the end-effector trajectory. And the influences of the working pressure and the load mass on the diameters of regressed deformed chambers show opposite trends. These findings may provide some references for the design and precision control of multi-chamber soft actuators for different applications.

关 键 词：软体驱动器 变形特性 模型 评价指标 试验 

分 类 号：TH138[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]