气动网格执行器建模与结构优化研究  

Study on Modeling and Structure Optimization of Pneu-nets Actuator

作　　者：魏琼[1] 刘伟恒 柯鼎 郭川 WEI Qiong;LIU Weiheng;KE Ding;GUO Chuan(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068

出　　处：《机械科学与技术》2025年第3期430-437,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51905159)。

摘　　要：建模精度及驱动能力不足是当前气动网格执行器常见的问题。建模的关键在于应变能计算和重力影响,驱动能力的关键在于结构。为提高建模精度及驱动能力,首先通过仿真与实验数据说明变形后的应变能有区域性分布的特征,并基于此提出了应变能分区计算方法,提高了模型中应变能的计算精度。然后采用集中质量和分布质量相结合的方法表征了重力影响,进一步提高了模型精度。实验、仿真与模型的对比分析验证了该模型的可靠性。最后基于实验数据探究气囊个数、高度及间距对弯曲角度和推力的影响规律,优化了执行器结构并提高了驱动能力。数据表明执行器弯的曲角度相比原来提升约0.5 rad,可达2.5 rad。输出推力相比原来提升约2 N,可达3 N。Insufficient model accuracy and drive capability are common problems of current pneu-nets actuators.The key of modeling is the strain energy calculation and gravity influence,and the key of drive capability is the structure.In order to improve model accuracy and drive capability,firstly,the strain energy after deformation is characterized by regional distribution through simulation and experimental data.Based on the above-mentioned results,a strain energy partition calculation method is proposed to improve the calculation accuracy of the strain energy in the model.Then a combination of concentrated and distributed masses was used to characterize the gravitational influence and further improve the model accuracy.The reliability of the model is verified by the comparative analysis of experiments,simulations and models.Finally,according to the experimental data,the influence of the number,height and gap of chamber on the bending angle and force was investigated,then the actuator structure to improve the driving capacity was optimized.The data show that the bending angle of the actuator is improved by about 0.5 rad comparing with the original one,and can reach 2.5 rad.The force increased by about 2 N comparing with the original one,and can reach 3 N.

关 键 词：气动网格驱动器 应变能 分区计算方法 执行器结构 

分 类 号：TH145[一般工业技术—材料科学与工程]