气动单向弯曲关节柔性手指静力学特性实验研究  

Experimental Study on the Static Characteristics of Flexible Fingers with Unidirectional Bending Joints

作　　者：刘洪波 孟祥蕊 耿德旭 武广斌 梁正 许文智 LIU Hongbo;MENG Xiangrui;GENG Dexu;WU Guangbin;LIANG Zheng;XU Wenzhi(Engineering Training Center,Beihua University,Jilin Jilin 132021,China;School of Nursing,Beihua University,Jilin Jilin 132013,China)

机构地区：[1]北华大学工程训练中心,吉林吉林132021 [2]北华大学护理学院,吉林吉林132013

出　　处：《机床与液压》2022年第11期14-19,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51275004);吉林省科技厅重点科技研发项目(20180201050GX);吉林省发改委产业自主创新能力项目(2020C021-4);吉林省教育厅“十四五”科学技术研究项目(JJKH20220048KJ);北华大学大学生创新训练计划项目(202110201016)。

摘　　要：某气动单向弯曲关节柔性手指由人工肌肉和弹性钢板并联组成,弯曲变形时具有大变形和非线性特点,静力学模型十分复杂且不利于控制。为便于实时精准控制,进一步简化手指静力学模型,并对其静力学特性进行实验研究。搭建静力学实验平台,对单肌肉驱动和双肌肉驱动两种不同驱动类型的柔性手指在不同限位面和等外载荷工况下分别进行夹持力和弯曲角度的对比实验。利用MATLAB对实验数据进行处理分析,得到手指夹持力和弯曲角度的经验模型。结果表明:气动单向弯曲关节柔性手指夹持力与弯曲角度、工作气压和驱动肌肉数目之间存在非线性关系;与静力学理论模型相比,该经验模型具有更高的精度,夹持力模型预测误差能控制在0.76 N内,弯曲角度模型误差可控制在6.9°内。The flexible finger with pneumatic unidirectional bending joint is composed of artificial muscle and elastic steel plate in parallel,which has large deformation and nonlinear characteristics during bending deformation,the static model is more complex and not conducive to control.In order to facilitate real-time accurate control,the static model of the finger was further simplified,and its static characteristics were experimentally studied.The experiment platform for static mechanical characteristics testing was established to compare the clamping force and bending angle of two different actuation types flexible fingers,such as single muscle driven and double muscle driven under the conditions of different limit surfaces and equal external load.The experimental data were analyzed by using MATLAB,and the empirical models of flexible fingers clamping force and bending angle were obtained.The results shows that there is a nonlinear relationship among the clamping force,bending angle,working pressure and the number of driving muscles;compared with the static theoretical model,the empirical model has higher accuracy,the prediction error of the clamping force model can be controlled within 0.76 N,and the error of the bending angle model can be controlled within 6.9°.

关 键 词：气动单向弯曲关节 柔性手指 夹持力 弯曲角度 经验模型 曲面拟合 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]