蠕动式气动软体管道机器人设计与实验  

Design and Experiments of Inchworm-type Soft Pneumatic Pipe Robot

作　　者：宋懋征 刘晓敏 赵云伟 田德宝 秦鹏 SONG Mao-zheng;LIU Xiao-min;ZHAO Yun-wei;TIAN De-bao;QIN Peng(School of Mechanical Engineering, Beihua University, Jilin, Jilin 132021)

机构地区：[1]北华大学机械工程学院,吉林吉林132021

出　　处：《液压与气动》2022年第7期90-97,共8页Chinese Hydraulics & Pneumatics

基　　金：北华大学研究生创新项目(北华研创合字[2021]044);吉林省教育厅“十三五”科学技术项目(JJKH20200038 KJ)。

摘　　要：仿照蠕虫运动机理,利用自主研发的径向膨胀和轴向伸缩软体驱动器,研制了一种蠕动式气动软体管道机器人。研究了两种驱动器的结构设计和工艺流程;并进行了静力学实验,获得了驱动器静力学特性;依据轴向伸缩软体驱动器的形变原理,建立了机器人的运动学模型,获得了在不同气压、频率和负载情况下机器人的运动性能。结果表明,管道机器人具有较好的灵活性和适应性,可在一定直径范围的管道内自由爬行,爬行最大运动速度可达4.64 mm/s,负载能力为1000 g。To imitate the inchworm's motion,a peristaltic pneumatic soft pipe robot is designed by employing the independently-developed radial expansion soft actuators and axial expansion soft actuators.The structure and fabrication process of the actuators are studied and then the static simulation and experiments are carried out to analyze the performance of the actuators.The kinematics model of the soft robot is further built based on the deformation of the soft axial expansion actuator,and the kinematic characteristics of the robot upon the air pressure,frequency and load conditions are obtained.The results show that the soft pipe robot has good flexibility and adaptability which can crawl freely in the pipeline within a certain diameter range,and the maximum crawling speed can reach 4.64 mm/s,as well the load capacity is 1000 g.

关 键 词：气动 管道机器人 软体驱动器 步态规划 仿真分析 运动性能 

分 类 号：TH138[机械工程—机械制造及自动化]