测量黏弹性材料力学特性的微型液压驱动机构  

Micro-hydraulic Drive Mechanism for Measuring Mechanical Properties of Viscoelastic Materials

作　　者：李伟[1] 王勇 LI Wei;WANG Yong(School of Mechanical and Electrical Engineering,Jiangsu Institute of Food and Drug Technology,Huai'an Jiangsu 223003,China;School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China)

机构地区：[1]江苏食品药品职业技术学院机电工程学院,江苏淮安223003 [2]江南大学机械工程学院,江苏无锡214122

出　　处：《机床与液压》2022年第11期124-129,共6页Machine Tool & Hydraulics

基　　金：江苏省自然科学基金项目(BK20181222)。

摘　　要：针对生物工程领域中传统力传感器无法实现机器人精确触觉感知的问题,提出一种可测量黏弹性材料力学特性的微型液压驱动机构。该机构通过直接接触目标对象来测量反作用力和位移,其末端执行器的尖端由微型气缸构成,并使用帕斯卡原理进行放大处理。对微型气缸的最佳尺寸进行分析,并给出微型液压驱动机构的供液系统。采用内径为1.6 mm的微型气缸对不同硬度的黏弹性材料进行蠕变实验和测量实验。根据离散的位移和载荷数据,分别通过开尔文模型和标准线性体模型计算接触物体的刚度和黏性系数。结果表明:相比标准线性体模型,采用开尔文模型的微型液压驱动机构识别出的刚度和黏性系数最接近真实值,能够满足机器人触诊系统中高精度力学特性测量的需求。Aiming at the problem that traditional force sensors can not realize accurate tactile sensing of robots in bioengineering field,a micro-hydraulic drive mechanism which could measure the mechanical properties of viscoelastic materials was proposed.The reaction force and displacement were measured by directly contacting the target object,and the tip of the end effector was composed of a miniature cylinder,which was amplified by using Pascal principle.The optimal size of the micro cylinder was analyzed,and the liquid supply system of micro hydraulic drive mechanism was given.The creep experiments and measurement and identification experiments were carried out on viscoelastic materials with different hardness by using micro-cylinder with inner diameter of 1.6 mm.According to the discrete displacement and load data,the stiffness and viscosity coefficient of the contact object were calculated by using Kelvin model and standard linear solid model respectively.The results show that compared with the standard linear solid model,the stiffness and viscosity coefficient estimated by using the micro-hydraulic drive mechanism based on Kelvin model are closest to the real values,which can meet the requirements of high-precision mechanical property measurement in robot palpation system.

关 键 词：黏弹性材料 力学特性 开尔文模型 力传感器 液压驱动 

分 类 号：TH137.7[机械工程—机械制造及自动化]