多向弯曲气体检测软体机器人设计  

Design of a Multi-directional Bending Gas Detection Soft Robot

作　　者：关峰[1,3] 赵鲁宁 黄成杰 熊佳伟 刘春宝 GUAN Feng;ZHAO Luning;HUANG Chengjie;XIONG Jiawei;LIU Chunbao(Shenyang Aircraft Industry(Group)Co.,Ltd.,Shenyang,Liaoning 110034;First Military Representative Office in Shenyang Region,Shenyang,Liaoning 110034;School of Mechanical Science and Aerospace Engineering,Jilin University,Changchun,Jilin 130025)

机构地区：[1]沈阳飞机工业(集团)有限公司,辽宁沈阳110034 [2]沈阳地区第一军事代表室,辽宁沈阳110034 [3]吉林大学机械与航空航天工程学院,吉林长春130025

出　　处：《液压与气动》2025年第1期132-138,共7页Chinese Hydraulics & Pneumatics

摘　　要：提出了一种基于仿生设计的软体气动驱动器,模仿象鼻的肌肉纤维结构,由柔性折叠结构、气动人工肌肉和刚性连接组成。该驱动器在两种驱动模式下可实现8个方向的弯曲,具有高弯曲刚度和灵活性。实验表明,当工作压力为120 kPa时,驱动器可在1 s内产生42°的弯曲变形。建立了气动人工肌肉和柔性折叠结构的弯曲变形数学模型,并通过实验验证了驱动器的性能。将此驱动器应用于气体检测机器人,并设计了仿生检测鼻腔。瞬态响应模式下,检测有害气体的响应时间缩短为原始传感器的31.7%及静态仿生结构的19.1%。实验表明,该机器人在乙醇和水的区分中表现出色,具有广阔的应用前景。An innovatively designed soft pneumatic actuator,based on bionic principles and mimicking the muscle fiber structure of an elephant's trunk,is composed of a flexible folding structure,pneumatic artificial muscles,and rigid connections.This actuator can achieve bending in eight directions under two driving modes,exhibiting high bending stiffness and flexibility.Experiments have shown that when the working pressure is 120 kPa,the actuator can produce a bending deformation of 42°in 1 s.Mathematical models for the bending deformation of the pneumatic artificial muscles and flexible folding structure are established in this paper,and the actuator's performance is verified through experiments.The actuator is applied to a gas detection robot,and a bionic detection nasal cavity is designed.In transient response mode,the response time for detecting harmful gases was reduced to 31.7%of the original sensor and 19.1%of the bionic structure.Experiments demonstrate that this robot excels in distinguishing between ethanol and water,showcasing promising application prospects.

关 键 词：仿生软体驱动器 多方向弯曲 气体检测机器人 瞬态响应 

分 类 号：TH138[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]