自供气无缆式软体执行器设计与实验  

Design and Experiment of Unconstrained Self-Supplying Soft Actuator

作　　者：黄浩然 赵云伟 刘晓敏 张维懿 HUANG Haoran;ZHAO Yunwei;LIU Xiaomin;ZHANG Weiyi(School of Mechanical Engineering,Beihua University,Jilin 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：《机床与液压》2023年第15期122-126,共5页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划(YDZJ202201ZYTS624);吉林省教育厅“十三五”科技研究(JJKH20220049KJ);北华研创合字【2022】043;吉林市科技发展计划项目(20230302027)。

摘　　要：为摆脱缆线束缚设计一种自供气无缆式软体执行器,将柱塞式微型气泵集成于软体驱动器内部,无需外界气源供入,可往复循环供气驱使驱动器弯曲变形。研究无缆式驱动器结构设计与制作工艺并试制了原理样机,建立微泵气压模型和驱动器变形模型并进行相关实验验证,获得微泵动态性能及驱动器在微型气泵供压下的弯曲变形规律。结果表明:该执行器可实现无缆、独立、自主弯曲变形,在微泵022 MPa供压下驱动器可弯曲120°。In order to get rid of the constraints of cables and tubes,an unconstrained self-supplying soft actuator was designed in which a micro-pump air pump was integrated into the soft actuator.The actuator could bend by reciprocating air supply circularly,without need for external air source.The structure design and craftsmanship of unconstrained self-supplied soft actuator were investigated and a prototype was made as well.The theoretical models were established to predict the pressure of micropump and deformation of actuator,and relevant experiments were carried out to verify them.The dynamic performance of the micropump and the bending deformation rules of the actuator under the pressure of the micropump were obtained.The results show that the soft effector can bend autonomously,unconstrainedly and independently,the bending angle of the actuator can reach 120°under air pressure 0.22 MPa provided by the micro-pump.

关 键 词：自供气 无缆式 气动 软体执行器 

分 类 号：TH138[机械工程—机械制造及自动化]