Ultralong Stretchable Soft Actuator(US2A):Design,Modeling and Application  

作　　者：Wenbiao Wang Yunfei Zhu Shibo Cai Guanjun Bao 

机构地区：[1]Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,Ministry of Education,Zhejiang University of Technology,Hangzhou,310014,China [2]Beijing Institute of Spacecraft Environment Engineering,China Academy of Space Technology,Beijing,100094,China

出　　处：《Chinese Journal of Mechanical Engineering》2023年第1期280-291,共12页中国机械工程学报（英文版）

基　　金：National Natural Science Foundation of China(Grant No.U2013212);Key Research and Development Program of Zhejiang(Grant No.2021C04015);Fundamental Research Funds for the Provincial Universities of Zhejiang(Grant No.RF-C2019004)。

摘　　要：Actuator plays a significant role in soft robotics.This paper proposed an ultralong stretchable soft actuator(US2A)with a variable and sizeable maximum elongation.The US2A is composed of a silicone rubber tube and a bellows woven sleeve.The maximal extension can be conveniently regulated by just adjusting the wrinkles’initial angle of the bellows woven sleeve.The kinematics of US2A could be obtained by geometrically analyzing the structure of the bellows woven sleeve when the silicone rubber tube is inflated.Based on the principle of virtual work,the actuating models have been established:the pressure-elongation model and the pressure-force model.These models reflect the influence of the silicone tube’s shell thickness and material properties on the pneumatic muscle’s performance,which facilitates the optimal design of US2A for various working conditions.The experimental results showed that the maximum elongation of the US2A prototype is 257%,and the effective elongation could be variably regulated in the range of 0 and 257%.The proposed models were also verified by pressure-elongation and pressure-force experiments,with an average error of 5%and 2.5%,respectively.Finally,based on the US2A,we designed a pneumatic rehabilitation glove,soft arm robot,and rigid-soft coupling continuous robot,which further verified the feasibility of US2A as a soft driving component.

关 键 词：Soft robotics Soft actuator Pneumatic artificial muscle MODELING 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH703[自动化与计算机技术—控制科学与工程]