气动齿状软体驱动器动力学建模与仿真分析  

Dynamic modelling and simulation analysis of a pneumatic toothed soft actuator

作　　者：苏怡仪 张力文 徐齐平 刘锦阳[1] SU Yiyi;ZHANG Liwen;XU Qiping;LIU Jinyang(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;College of Engineering,Zhejiang Normal University,Jinhua 321004,China)

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200240 [2]浙江师范大学工学院,浙江金华321004

出　　处：《振动与冲击》2023年第8期142-151,共10页Journal of Vibration and Shock

基　　金：国家自然科学基金(11772186,11932001)。

摘　　要：针对发生面内弯曲、超弹性材料气动齿状软体驱动器,从非线性本构关系出发,考虑几何非线性,基于绝对节点坐标法(absolute nodal coordinate formulation,ANCF)建立二维多梁结构的动力学模型。考虑多点接触,采用罚函数法对相邻气腔之间的软接触问题建模,避免相邻气腔之间的互相穿透,并能准确模拟相邻气腔从不接触到充分接触的变拓扑过程;相比于ANCF实体单元模型,二维梁模型计算规模小,更加高效。通过气动弯曲试验和ABAQUS仿真,验证理论模型的计算精度;在此基础上研究重力对软体驱动器构型的影响,分析充气速率和最终加载气压值对其动力学响应的影响。With regard to a kind of a hyper-elastic pneumatic toothed soft actuator with planar bending deformation,a dynamic model of the two-dimensional multi-beam structure was established based on the nonlinear constitutive relationship and an absolute nodal coordinate formulation(ANCF)considering the geometrical nonlinearity.A penalty method was used to model the soft contact problem between adjacent chambers,which considers multi-point contact and can avoid the mutual penetration between adjacent chambers,and can accurately simulate the variable topological process of adjacent chambers from no contact to full contact.Compared with the ANCF solid element model,the two-dimensional multi-beam model has lower computational cost,therefore it is more efficient.The precision of the proposed theoretical model was verified by pneumatic bending experiments and ABAQUS simulation.On this basis,the influence of the gravity on the configuration of soft actuator was studied,and the influence of the inflation rate and the final loading pressure on its dynamic response was analyzed.

关 键 词：绝对节点坐标法(ANCF) 气动齿状软体驱动器 动力学建模 软接触 材料非线性 试验验证 

分 类 号：O312[理学—一般力学与力学基础] TP242[理学—力学] TP202[自动化与计算机技术—检测技术与自动化装置]