Modeling,Characterization,and Application of Soft Bellows-Type Pneumatic Actuators for Bionic Locomotion  

作　　者：Huichen Ma Junjie Zhou 

机构地区：[1]School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China [2]Institute of Advanced Technology,Beijing Institute of Technology,Jinan 250101,China

出　　处：《Acta Mechanica Solida Sinica》2023年第1期1-12,共12页固体力学学报（英文版）

基　　金：supported by the National Key Laboratory of Vehicular Transmission of China under Grant JCKYS2019208005.

摘　　要：Soft bellows-type pneumatic actuators(SBPAs),which consist of two cavities with small chambers embedded in elastomeric structures,are an essential embranchment in the field of soft actuators.However,more analytical modeling and analysis of SBPAs need to be studied.In this article,we first present the structure design,fabrication method,and material property test of the SBPA.Then,based on the plate bending theory,an analytical model and the corresponding design approach for SBPAs are established,which consider both geometric complexity and material nonlinearity.The verification results indicate that the predicted analytical results coincide well with the physical experimental measurement and simulation results.The decision coefficient is R^(2)=0.9720.The impacts of geometric dimensions and silicone material characteristics on the bending deformation of SBPAs are also explored.We further demonstrate the bionic utility of SBPAs.Such an approach can be used as a tool for the design optimization of bellows-type actuators and save the designer lots of finite element analysis with its low computational cost.This work provides a detailed investigation of the performance of SBPAs,which can be a basic module for various types of soft robots such as soft snake robots,crawling robots,and robotic arms in the future.

关 键 词：Plate bendingtheory Soft actuator MODELING Bionic application 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]