高伸缩比气动软体驱动器刚度特性研究  

Research on Stiffness Characteristics of Pneumatic Soft Actuator with High Expansion Ratio

作　　者：涂德浴[1] 陈武杰 朱庆 刘庆运[1,2] 赵虎 TU Deyu;CHEN Wujie;ZHU Qing;LIU Qingyun;ZHAO Hu(Anhui Province Engineering Laboratory of Intelligent Demolition Equipment,Anhui University of Technology,Maanshan Anhui 243032,China;Anhui Province Key Laboratory of Special Heavy Load Robot,Maanshan Anhui 243032,China)

机构地区：[1]安徽工业大学安徽省智能破拆装备工程实验室,安徽马鞍山243032 [2]特种重载机器人安徽省重点实验室,安徽马鞍山243032

出　　处：《机床与液压》2023年第16期51-57,共7页Machine Tool & Hydraulics

基　　金：安徽省高校自然科学研究重点项目(KJ2021A0403);特种重载机器人安徽省重点实验室开放基金项目(TZJQR003-2022);安徽省智能破拆装备工程实验室(APELIDE2021B005)。

摘　　要：对一款由乳胶气囊、纤维布等材料组成的高伸缩比气动软体驱动器的刚度特性展开研究。根据软体驱动器的结构特点,采用理论与实验相结合的方法,改进软体驱动器的静态输出力模型,建立软体驱动器的静态刚度模型;并结合气体多变方程,建立软体驱动器的动态刚度模型,动态刚度为静态刚度与气压刚度之和;搭建软体驱动器静态刚度实验平台并对其静态刚度进行实验研究。结果表明:软体驱动器的静态刚度随膨胀高度的增大而减小,具有良好的线性关系和较小的相对误差,当供气压力为70 kPa时,软体驱动器静态刚度可达15 kN/m左右。对气压刚度进行仿真分析,结果表明:气压刚度主要受膨胀高度、供气压力以及激励位移的影响,当软体驱动器膨胀高度为30 mm、供气压力为10 kPa、激励位移为5 mm时,气压刚度仅为静态刚度的1/6左右。The stiffness characteristics of a pneumatic soft actuator with high expansion ratio composed of latex airbag,fiber cloth and other materials were studied.According to the structural characteristics of the soft actuator,the static output force model of the soft actuator was improved by combining theory with experiment,and the static stiffness model of the soft actuator was established.Combined with the gas multi-variate equation,the dynamic stiffness model of the soft actuator was established,and the dynamic stiffness was the sum of static stiffness and pressure stiffness.The static stiffness test platform of soft actuator was built and its static stiffness was tested.The results show that the static stiffness of the soft actuator decreases with the increase of the expansion height,with a good linear relationship and a small relative error,when the air supply pressure is 70 kPa,the static stiffness of the soft actuator can reach about 15 kN/m.The simulation analysis of the pneumatic stiffness shows that the pneumatic stiffness is mainly affected by the expansion height,the air supply pressure and the excitation displacement,when the expansion height of the soft driver is 30 mm,the air supply pressure is 10 kPa and the excitation displacement is 5 mm,the air pressure stiffness is only about 1/6 of the static stiffness.

关 键 词：气动软体驱动器 静态刚度 气压刚度 

分 类 号：TB138[理学—物理]