工业机器人柔性执行器实验装置设计  

Design of Experimental Apparatus for Flexible Actuators of Industrial Robots

作　　者：赵鹏飞[1] 赵聪[1] 温洋[1] 于晓然 ZHAO Pengfei;ZHAO Cong;WEN Yang;YU Xiaoran(National Experimental Teaching Demonstration Center for Mechanical Engineering,Tianjin University,Tianjin 300354,China)

机构地区：[1]天津大学机械工程国家级实验教学示范中心,天津300354

出　　处：《实验室研究与探索》2025年第3期61-66,共6页Research and Exploration In Laboratory

基　　金：教育部产学合作协同育人项目(220800595110703);2022年天津大学本科教育教学重点建设项目(YC202201)。

摘　　要：为了解决当前工业机器人实践教学中刚性结构执行器无法满足多样化抓取需求的问题,设计并测试了一种适用于工业机器人实践教学的柔性执行器实验装置。基于人手指结构和运动特性,采用高速气网型执行器结构,结合超弹性材料Dragonskin30设计柔性执行器。利用Abaqus有限元分析软件优化设计方案,并通过实物制作和仿真分析验证了柔性执行器的弯曲性能和尖端力。实验结果表明,该柔性执行器能够有效抓取易碎、易变形及不同尺寸的物体,具备良好的运动性能,为工程实践教学提供了一种解决方案。This paper designs and tests a flexible actuator experimental device which is suitable for practical teaching of industrial robots to solve the problem of rigid structure actuators unable to meet diverse grasping needs in current industrial robot practical teaching.By simulating the structure and motion characteristics of human fingers,and combining with the super elastic material Dragon skin 30,a high-speed pneumatic actuator structure is designed.The design scheme is optimized using Abaqus finite element analysis software,and the bending performance and tip force of the actuator are verified through physical fabrication and simulation analysis.The experimental results show that the flexible actuator can effectively grasp fragile,deformable,and objects with different sizes,has good motion performance.It provides a solution for engineering practice teaching.

关 键 词：工业机器人 柔性执行器 气压驱动 有限元分析 实践教学 

分 类 号：G642[文化科学—高等教育学]