3-DOF微手系统的建模与仿真分析  

Modeling and Simulation Analysis of the 3-DOF micro-hand System

作　　者：张莹莹 步妮[1] ZHANG Yingying;BU Ni(College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao Shandong 266061,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,山东青岛266061

出　　处：《机床与液压》2025年第2期190-196,共7页Machine Tool & Hydraulics

基　　金：山东省自然科学基金(ZR2021MF047)。

摘　　要：3-DOF微手作为一种典型的柔性微型执行器,具有体积小、质量轻、非线性特性显著的优点。为了准确描述3-DOF微手的动力学特性,提出一种基于Yeoh模型的力学建模方法,结合Yeoh模型的能量密度分布函数,对其位姿和应力-应变关系进行分析,分别得到3个人工肌肉末端位移和气压之间的关系,根据3-DOF微手受力情况得到压力和弯曲角度之间的关系。为了进一步证明理论模型的准确性,通过SolidWorks构建3-DOF微手模型,并采用Abaqus进行有限元分析,建立3-DOF微手在不同的气压、腔室作用下的仿真模型,并将仿真结果与理论计算结果进行对比。结果表明:在0~250 kPa内,仿真和计算结果的变化趋势保持一致,证明了所提模型的有效性和准确性,为进一步研究3-DOF微手的控制和抓取提供了基础。As a typical flexible micro-actuator,3-DOF micro-hand has the advantages of small size,light weight and remarkable nonlinear characteristics.In order to accurately describe the dynamic characteristics of 3-DOF micro-hand,a mechanical modeling method based on Yeoh model was proposed.Combining the energy density distribution function of the Yeoh model,the pose and stress-strain relationship of the 3-DOF micro-hand was analyzed,the relationship between the displacement and air pressure at the end of the three artificial muscles was obtained,and the relationship between the pressure and the bending angle was obtained according to the force of the 3-DOF micro-hand.In order to further prove the accuracy of the theoretical model,SolidWorks was used to construct the 3-DOF micro-hand model,and Abaqus was used for finite element analysis,the simulation model of 3-DOF micro-hand under the action of different pressure and chambers was established,and the simulation results were compared with the theoretical results.The results indicate that when the air pressure is range from 0 to 250 kPa,the simulation and calculation results keep the same trend,which proves the effectiveness and accuracy of the proposed model,and provides a basis for further research about the control and grasping of 3-DOF micro-hand.

关 键 词：3-DOF微手 Yeoh模型 理论模型 有限元仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]