面向软体机器人的磁流变弹性体变刚度模型研究  

Study on the variable stiffness model of magnetorheological elastomer for soft robots

作　　者：于凌涛[1] 聂洪帅 袁华营 马英博 杨志勇 孙章喆 YU Lingtao;NIE Hongshuai;YUAN Huaying;MA Yingbo;YANG Zhiyong;SUN Zhangzhe(College of Electrical and Mechanical Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2024年第11期2259-2265,共7页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金项目(LH2019F016).

摘　　要：软体机器人在柔性抓取时存在手爪刚度单一不足的情况,而且磁流变弹性体的变刚度范围有限,本文提出了一种变刚度范围大的磁流变弹性体模型。在磁流变效应基础上设计了一种以磁流变弹性体为主体材料的“菱形”变刚度模型,并给出了3D打印模型与铸造技术工艺。通过电磁铁产生的磁场,构建了一种磁-力耦合模型,分析了“菱形”变刚度模型主要刚度变化关系,探索了影响模型变刚度的因素。通过建立的实验平台,结果表明:本文提出的“菱形”模型可以大幅提高磁流变弹性体的变刚度范围,并且可以实现通过控制电流大小来控制模型的刚度大小,含有3个“菱形”结构的模型在磁场下刚度变化的百分比可以高达约58%,可使磁流变弹性体作为类“皮肤”应用在软体机器人手爪上。The grip stiffness of soft robots is simple and insufficient,while the range of variable stiffness in magnetorheological elastomers is limited.This study proposes a model for a magnetorheological elastomer with a large range of variable stiffness.Utilizing the magnetorheological effect,a diamond-shaped variable stiffness model was designed with magnetorheological elastomer as the primary material,and the 3D printing model and casting process were presented.Additionally,a magnetic-force coupling model was constructed based on the magnetic field generated by an electromagnet.The main stiffness variation relation of the diamond-shaped variable stiffness model was analyzed,and the factors affecting the model′s variable stiffness were explored.The experimental results indicate that the“diamond”model proposed in this study significantly enhances the variable stiffness range of the magnetorheological elastomer and allows for precise control of stiffness by adjusting the current.The stiffness change percentage of the model containing three“diamond”structures under the magnetic field can reach approximately 58%,enabling the application of magnetorheological elastomer as a type of“skin”for soft robot grips.

关 键 词：软体机器人 磁流变弹性体 磁流变效应 变刚度 “菱形”模型 刚度 刚度控制 3D打印 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]