一种流体驱动式模块化软体仿生象鼻关节变刚度结构设计及仿真分析  

Design and Simulation Analysis of a Fluid-driven Modular Software Bionic Elephant Trunk Joint with Variable Stiffness

作　　者：刘思远[1] 张京涛 王杰 邓亦杰 辛闯庭 LIU Si-yuan;ZHANG Jing-tao;WANG Jie;DENG Yi-jie;XIN Chuang-ting(Key Laboratory of Heavy Machinery Fluid Power Transmission and Control of Hebei Province, Yanshan University, Qinhuangdao, Heibei 066004)

机构地区：[1]燕山大学河北省重型机械流体动力传输与控制重点实验室,河北秦皇岛066004

出　　处：《液压与气动》2022年第5期152-158,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51875498);流体动力与机电系统国家重点实验室开放基金(GZKF-202009);河北省教育厅高等学校科技计划青年基金(自然类)(QN2019001)。

摘　　要：在兼顾软体抓持装置顺应性的前提下,为进一步提升其承载能力,提出一种采用磁流变液变刚度控制的流体驱动式模块化软体仿生象鼻机构。建立了仿生象鼻关节变形量和刚度理论数学模型;利用有限元分析方法基于Yeoh模型对不同结构参数的仿生象鼻关节进行了变形仿真分析,在相同压力下优选出了变形量最大的模型结构和确定了最佳输入气体压力值;对关节变形后两端电磁铁的叠加磁场分布进行了有限元仿真,通过分析磁场分布均匀性初步确定了两端电磁铁形成磁场的最佳距离即关节长度;最后对不同长度关节进行了变形仿真分析,综合考虑磁场分布均匀性和变形量,通过两者的最优组合确定最终关节长度,验证了仿生象鼻的多自由度变形和可变刚度特性。On the premise of taking into account the compliance of the soft gripping device,in order to further improve its carrying capacity,a fluid-driven modular soft-bionic elephant trunk mechanism using magnetorheological fluid variable stiffness control is proposed.A theoretical mathematical model of the deformation and stiffness of the bionic elephant trunk joint was established.;the deformation simulation analysis of the bionic elephant trunk joints with different structural parameters is carried out based on the Yeoh model using the finite element analysis method,and the model structure and the model with the largest deformation amount are selected under the same pressure.Determine the best input gas pressure value;The finite element simulation of the superimposed magnetic field distribution of the electromagnets at both ends after the joint deformation is carried out.By analyzing the uniformity of the magnetic field distribution,the optimal distance for the formation of the magnetic field from the electromagnets at the two ends,that is,the joint length,is preliminarily determined.;Finally,the deformation simulation analysis of joints with different lengths is carried out,and the uniformity of the magnetic field distribution and the amount of deformation are comprehensively considered,and the final joint length is determined through the optimal combination of the two,which verifies the multi-degree-of-freedom deformation and variable stiffness characteristics of the bionic elephant trunk.

关 键 词：软体仿生象鼻关节 磁流变液 变刚度 模块化 变形 

分 类 号：TH138[机械工程—机械制造及自动化] TP277[自动化与计算机技术—检测技术与自动化装置]