基于橡胶波纹管的柔性机械手臂设计  

Design of Flexible Manipulator with Rubber Bellows

作　　者：林本末 彭熙凤 王海涛 LIN Ben-mo;PENG Xi-feng;WANG Hai-tao(Naval Architecture&Ocean Engineering College,Dalian Maritime University,Dalian,Liaoning 116026)

机构地区：[1]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《液压与气动》2021年第6期150-155,共6页Chinese Hydraulics & Pneumatics

摘　　要：柔性连续型机器人,相比离散关节型机器人具有高适应性与安全性的特点。针对多种应用领域,介绍一种使用压缩气体驱动的柔性连续型机械手臂原型机,利用其执行器由柔软材料制造装配而成的特点,它在抓取过程中能更好的保护表面脆弱的物体。使用橡胶波纹管,设计、制造并装配为执行器、执行器组及机械手臂,搭建实验台,建立执行器的伸长量与其内部气压的理论模型并通过实验验证,进一步测试柔性机械手臂的形变及运动性能,实现柔性机械手臂在其运动空间内可按照既定顺序工位操作的功能。结果表明,执行器的伸长量与其内部气压的理论模型准确,基于橡胶波纹管的柔性机械手臂具有较大的弯曲角度与一定的负载能力,可应用于识别与定位或物体的抓取移动等领域。Flexible continuous robots,compared with discrete joint robots,possess high adaptability and safety under various complex environments.This study introduces a prototype of flexible continuum manipulator driven by compressed gas in many fields.The actuator is made of soft material,so that it can protect the fragile objects in the process of grasping.The elastic rubber bellows are used to design,and assemble the actuators and manipulator.The actuators theoretical model of the elongation and air pressure is established and further verified by experimental statistics.The deformation and motion performance of the manipulator is further tested in order to realize the preset movement.The results show that the actuators theoretical model of the elongation and air pressure is accurate.The flexible manipulator has a larger bending angle and load capacity during movement,therefore can be applied to the identification and positioning of objects,or the grasping and movement of objects.

关 键 词：橡胶波纹管 拉伸弹簧 柔性机械臂 运动特性 传感与控制 

分 类 号：TH138[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]