北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (5): 1053-1060.doi: 10.13700/j.bh.1001-5965.2016.0364

• 论文 • 上一篇    

软体弯曲驱动器设计与建模

王华1, 康荣杰1, 王兴坚2, 戴建生1,3   

  1. 1. 天津大学 机构理论与装备设计教育部重点实验室, 天津 30007;
    2. 北京航空航天大学 自动化科学与电气工程学院, 北京 10008;
    3. 伦敦大学 国王学院机器人研究中心, 伦敦 WC2R 2LS
  • 收稿日期:2016-05-03 出版日期:2017-05-20 发布日期:2017-05-27
  • 通讯作者: 康荣杰,E-mail:rjkang@tju.edu.cn E-mail:rjkang@tju.edu.cn
  • 作者简介:王华,男,硕士研究生。主要研究方向:软体驱动器;康荣杰,男,博士,副教授,博士生导师。主要研究方向:软体机器人、仿生机器人;王兴坚,男,博士,讲师,硕士生导师。主要研究方向:机电控制;戴建生,男,博士,教授,博士生导师。主要研究方向:旋量理论、机构学及机器人技术。
  • 基金资助:
    国家自然科学基金(51375329);天津市应用基础与前沿技术研究计划(14JCYBJC19300);高等学校博士学科点专项科研基金(20130032120036)

Design and modeling of a soft bending actuator

WANG Hua1, KANG Rongjie1, WANG Xingjian2, DAI Jiansheng1,3   

  1. 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 30007;
    2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 10008;
    3. Centre for Robotics Research, King's College London, London WC2R 2LS, England
  • Received:2016-05-03 Online:2017-05-20 Published:2017-05-27
  • Supported by:
    National Natural Science Foundation of China (51375329);Tianjin Municipal Science and Technology Department Program (14JCYBJC19300);Specialized Research Fund for the Doctoral Program of Higher Education of China (20130032120036)

摘要: 与传统的“刚性”机器人相比,基于仿生学启发的软体机器人由于其与生俱来的柔顺性和安全性受到广泛关注。然而,此类软体机器人驱动器的设计与控制目前仍缺少理论指导。针对这些问题,设计了一种由气压驱动的可实现弯曲运动的新型软体驱动器,在系统分析其结构和弯曲原理的基础上,利用几何方法和虚功原理建立了其数学模型,并且通过有限元模型和原理样机实验验证了数学模型的有效性,为软体机器人驱动器的优化设计和控制提供了依据。

关键词: 软体驱动器, 气压驱动, 弯曲变形, 数学模型, 有限元分析

Abstract: Compared with traditional "rigid" robots, soft robots inspired by biology have been of particular interest to the robotic communities due to their inherent compliance and safety. However, the actuation and control of the soft actuators for such soft robotics are still lacking of theoretical investigation. For these issues, a pneumatic actuator was designed to achieve compliant motions for use in soft robots. The mathematical model was then developed based on the analysis of its structure and bending principle utilizing the geometric analysis and the principle of virtual work. The model were finally validated by finite element model and prototype experiments, and can be used for the future design and control of soft robotic actuators.

Key words: soft actuator, pneumatic actuation, bending deformation, mathematical model, finite element analysis

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