新型双气腔复合结构气动软体执行器设计与性能测试  

Design and Performance Testing of a New Type of Dual-Chamber Composite Structure-Based Soft Pneumatic Actuator

作　　者：许建明 张宏杰[1] 侯妍妍 孙亮 XU Jianming;ZHANG Hongjie;HOU Yanyan;SUN Liang(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;School of Control and Mechanical Engineering,Tianjin Chengjian University,Tianjin 300384,China;Tianjin Zhongchuang Zhixun Industrial Product Design Co.,Ltd.,Tianjin 300171,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津城建大学控制与机械工程学院,天津300384 [3]天津中创智讯工业产品设计有限公司,天津300171

出　　处：《机床与液压》2025年第4期114-120,共7页Machine Tool & Hydraulics

基　　金：天津市企业科技特派员项目(24YDTPJC00750)。

摘　　要：为了提升双气腔复合结构气动软体执行器的抓取力输出性能和抓取稳定性,综合有限元分析和正交试验法,分析了快速、慢速气动网络结构弯曲变形、力输出能力的影响因素与相关规律,提出一种新型的双气腔复合结构气动软体执行器。该新型气动软体执行器根部采用慢速气动网络,以增强执行器的结构刚度;执行器前部采用变高度快速气动网络,以充分利用该结构的变形能力。基础特性测试结果表明:新型双气腔气动软体执行器与改进前的执行器具有相似的变形能力,其最大末端输出力可达2.51 N,相较于改进前的执行器(2.04 N)提高了23.0%。抓取性能测试结果表明:当采用三指抓取模式时,新型执行器在包络抓取中能够保证执行器与目标物体之间的有效接触面积,能够稳定抓取质量为1 kg的砝码,是改进前最大抓取质量的2.5倍,展现出良好的应用前景。To enhance the grasping force and stability of the dual-chamber composite structure-based soft pneumatic actuator,the influencing factors and related laws of bending deformation and force output capacity of fast and slow pneumatic network structures were analyzed by combining finite element analysis and orthogonal test method,and then a novel dual-chamber composite structure-based soft pneumatic actuator was proposed.The root of the new soft pneumatic actuator adopted a slow-speed pneumatic network actuator to enhance the structural rigidity of the actuator;the front of the actuator adopted a variable height fast pneumatic network fast actuator to make full use of the deformation capacity of the structure.The basic performance test results show that the new dual-chamber soft pneumatic actuator has similar deformation capacity to the original actuator,and its maximum output force can reach 2.51 N,which is 23.0%higher than that of the original actuator(2.04 N).The grasping performance test results show that when constituting a three-finger gripper,the new actuators can ensure an effective contact area between the actuator and the target object in the envelope grasping,and they can stably grasp the mass of 1 kg,which is 2.5 times the maximum of the original actuators,showing a good application prospect.

关 键 词：气动软体执行器 双气腔复合结构 气动网络结构 基础特性 抓取性能 

分 类 号：TH138.5[机械工程—机械制造及自动化]