气动柔性轴向驱动器结构与特性研究  

Study on Structure and Characteristics of Pneumatic Flexible Axial Actuator

作　　者：刘齐[1] 孙国栋 耿德旭[1] 赵云伟 LIU Qi;SUN Guo-dong;GENG De-xu;ZHAO Yun-wei(School of Mechanical Engineering,Beihua University,Jilin,Jilin 132021)

机构地区：[1]北华大学机械工程学院

出　　处：《液压与气动》2020年第2期99-104,共6页Chinese Hydraulics & Pneumatics

基　　金：吉林省重点研发项目(20180201050GX);北华大学研究生创新计划项目(北华研创合字[2018](008),[2019](008))

摘　　要：自主研发了轴向位置及驱动力可控制的新型气动柔性轴向驱动器,驱动器采用双气囊结构,中部设置有导向轴,在保证驱动器轴向伸长的同时有效提高了横向刚度。根据经典橡胶理论,研究驱动器轴向伸长变形、驱动力与工作气压的关系,并分别得到了驱动器气压-伸长量、气压-输出力公式。通过搭建静力学实验平台,进行相关静力学实验,对驱动器力学公式进行验证。实验结果表明:驱动器力学公式与实验结果具有良好的一致性;驱动器伸长量随工作气压的增大呈非线性增加;工作气压一定时,输出力与伸长量呈反比;伸长量为0时,驱动器具有的轴向驱动能力最大,且随工作气压的增大呈线性增加;工作气压为0.18 MPa时,最大伸长量为28.1 mm,最大输出力为52.04 N。A pneumatic flexible axial actuator is designed.There are two air bags and one guiding axle in the actuator,and the guiding axle can promise actuator produce axial deformation and improve its lateral stiffness.According to classical rubber theory,the relationship between the axial elongation deformation,driving force and working pressure of the actuator is studied,empirical formulas of air pressure-elongation and air pressure-driving force of actuators are obtained respectively.Static experiments were carried out on the prototype by setting up a static experimental platform,and the empirical formula of mechanical characteristics of the actuator was verified.The experimental results show that:the actuator elongation increases nonlinearly with the increase of working pressure;when the working pressure is constant,the driving force is inversely proportional to the elongation;when the elongation is zero,the driver has the largest axial driving capacity,and increases linearly with the increase of working pressure.When the working pressure is 0.18 MPa,the maximum elongation is 28.1 mm and the maximum output force is 52.04 N.

关 键 词：轴向驱动器 力学特性 橡胶理论 

分 类 号：TH138.5[机械工程—机械制造及自动化]