约束间隙对气动柔性轴向驱动器伸长量的影响  

Influence of Constraint Clearance on Elongation of Pneumatic Flexible Axial Actuator

作　　者：苟志攀 耿德旭[1] 刘洪波[1] 许文智 贾鑫 GOU Zhipan;GENG Dexu;LIU Hongbo;XU Wenzhi;JIA Xin(School of Mechanical Engineering,Beihua University,Jilin 132021,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021

出　　处：《北华大学学报（自然科学版）》2022年第4期545-550,共6页Journal of Beihua University（Natural Science）

基　　金：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);吉林省教育厅科学技术研究项目(JJKH20220048KJ).

摘　　要：设计一种弹簧约束气动轴向伸长驱动器,研究约束间隙对驱动器伸长量的影响.考虑伸长量受约束间隙、弹性材料刚度影响,根据驱动器轴向静力平衡方程,建立驱动器伸长非线性理论模型.搭建气动试验平台,获得两种材料5种间隙,共10组驱动器伸长量-气压关系,对比理论模型计算值和试验值.结果表明:通过控制驱动器内腔气压,可以控制驱动器不同程度轴向伸长;驱动器伸长量随通入气体气压和约束间隙的增加而增大,3 mm间隙灰色硅胶管驱动器在0.3 MPa下伸长率可以达到160%.A spring-constrained pneumatic axial elongation actuator was designed,and the influence of the constraint clearance on the elongation of the actuator was researched.Considering the influence of the constraint clearance and elastic material stiffness on its elongation,a nonlinear theoretical model of the elongation of the actuator was established according to the axial static equilibrium equation of the actuator.A pneumatic experimental platform was built,and the relationship between air pressure and elongation of actuators with 5 types of clearances of 2 materials in 10 groups was obtained,the theoretical model calculated value and experimental data were compared and verified.The experimental results show that different degrees of axial elongation of the actuator can be controlled by controlling the air pressure in the inner cavity of the actuator;The elongation of the actuator increases with the increase of the inlet air pressure and the restraint clearance,and the gray silicone tube actuator with 3 mm clearance is under 0.3 MPa,the elongation can reach 160%.

关 键 词：轴向驱动器 伸长量 气压 约束间隙 

分 类 号：TH165[机械工程—机械制造及自动化]