增强型气动柔性驱动器形变与驱动特性实验  

Enhanced Pneumatic Flexible Actuator Deformation and Actuation Characteristics Experiments

作　　者：苟志攀 耿德旭[1] 刘洪波[1] 武广斌[1] 贾鑫 GOU Zhipan;GENG Dexu;LIU Hongbo;WU Guangbin;JIA Xin(Mechanical Engineering College,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》2024年第14期33-39,共7页Machine Tool & Hydraulics

基　　金：吉林省发改委产业自主创新能力项目(2020C021-4);吉林省教育厅科学技术研究项目(JJKH20220048KJ);北华大学研究生创新计划项目(北华研创合字[2022]005)。

摘　　要：为解决现阶段柔性驱动器负载能力低、变形范围小等问题,设计并制作一种三自由度气动柔性驱动器,分析其变形机制并通过实验研究增强肌肉对驱动器伸长量、弯曲方向及弯曲角度、驱动力的影响。实验结果表明:通过控制驱动器人工肌肉内腔气压,驱动器可以产生轴向伸长和空间0°~360°任一方向弯曲变形;增强肌肉通压对驱动器变形量和驱动力有增幅作用,0.4 MPa气压下驱动器无增强肌肉时伸长率为49%,弯曲角度为68°,轴向驱动力为278 N;有增强肌肉时驱动器伸长率为54%,弯曲角度为77.5°,轴向驱动力为300 N。In order to solve the problems of low loading capacity and small deformation range of flexible actuators at the present stage,a three-degree-of-freedom pneumatic flexible actuator was designed and fabricated,its deformation mechanism was analyzed and the effect of muscle enhancement on actuator elongation,bending direction and bending angle,and driving force was studied experimentally.The experimental results show that by controlling the air pressure inside the artificial muscle cavity of the actuator,the actuator can produce axial elongation and bending deformation in any direction from 0°to 360°in space;the enhanced muscle ventilation has an increasing effect on the deformation and driving force of the actuator,under 0.4 MPa air pressure,the elongation rate of the actuator without enhanced muscle is 49%,the bending angle is 68°and axial driving force is 278 N,and the elongation rate of the actuator enhanced muscle is 54%,the bending angle is 77.5°and the axial driving force is 300 N.

关 键 词：柔性驱动器 增强肌肉 轴向伸长 弯曲角度 驱动力 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]