基于单向气动驱动器的软体手变形机理  

The Deformation Mechanism of Soft Hand Based on One-Way Pneumatic Actuator

作　　者：董虎 王保兴 李巍 曹毅 DONG Hu;WANG Baoxing;LI Wei;CAO Yi(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;b.Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,China;Suzhou Vocational Institute of Industrial Technology,Suzhou 215104,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [3]苏州工业职业技术学院,江苏苏州215104

出　　处：《东华大学学报（自然科学版）》2020年第2期288-296,303,共10页Journal of Donghua University(Natural Science)

基　　金：国家自然科学基金资助项目(50905075);江苏省“六大人才高峰”计划资助项目(ZBZZ-012);高等学校学科创新引智计划资助项目(B18027)。

摘　　要：针对软体气动驱动器的变形机理,以气动驱动软体手为研究对象,开展了基于单向气动驱动器的软体手指弯曲和摆动机理的研究。设计了气动驱动软体手,其弯曲和摆动结构均由多个相互连通的气室和一个不可延伸层组成。当相邻气室因充气膨胀而相互挤压时,气室受到不可延伸层的约束,实现了弯曲和摆动变形。为进一步考察软体手的变形机理,对620#T超弹性硅橡胶材料的非线性力学特性进行了研究,测定了其材料常系数。基于Yeoh模型密度函数,结合空间力矩平衡方程,建立了驱动压强和曲率半径的理论模型,并开展了软体手指弯曲及摆动变形的仿真研究,结果证明了理论模型的正确性。研究结果可以为其他基于气动驱动的软体结构变形机理研究提供理论基础。Aiming at the deformation mechanism of soft pneumatic actuator,the bending and swinging mechanism for the soft hand based on unidirectional pneumatic actuators were carried out with the soft pneumatic hand as the object.A soft pneumatic hand was designed,and its bending and swinging structure was composed of many interconnected gas chambers and an inextensible layer.The soft hand can accomplish the bending and swinging deformation when the adjacent gas chamber is inflated to squeeze each other while it is constrainted by the inextensible layer.To further explore the deformation mechanism,we studied the nonlinear mechanical properties of the 620#T super elastic silicone rubber,and tested the material constant coefficienties.The nonlinear mathematical model of driven pressure and curvature radius of a soft finger actuated by specific pressure was established,based on the Yeoh model density function and combined with the space balance equation.The finite element simulation of bending and swinging deformation for soft finger was preformed to verify the correctness of the theoretical model.The research results can provide a theoretical basis for other research on the deformation mechanism of pneumatically actuated soft structures.

关 键 词：软体手 气动驱动器 Yeoh模型 有限元仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]