Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion  

作　　者：Bingzhu Wang Xiangrui Ye 

机构地区：[1]College of Mechanics and Materials,Hohai University,Nanjing,211100,China [2]Department of Fundamental,Ma’anshan University,Ma’anshan,243100,China

出　　处：《Computer Modeling in Engineering & Sciences》2024年第5期1401-1425,共25页工程与科学中的计算机建模（英文）

基　　金：work is supported by the Fundamental Research Funds for the Central Universities(Grant No.B230205021);the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China(GrantNo.KYCX22_0592).The financial supports are gratefully acknowl-edged.

摘　　要：A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.

关 键 词：3D-FRSPA bionic structure theoretical modeling crawling application obstacle avoidance analysis numerical investigation 

分 类 号：U260.1[机械工程—车辆工程]