软体弯曲驱动器设计与建模

王华; 康荣杰; 王兴坚; 戴建生

doi:10.13700/j.bh.1001-5965.2016.0364

软体弯曲驱动器设计与建模

doi: 10.13700/j.bh.1001-5965.2016.0364

王华¹,
康荣杰^1, ,,
王兴坚²,
戴建生^{1, 3}

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

基金项目:

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

详细信息

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

通讯作者:
康荣杰, E-mail: rjkang@tju.edu.cn

中图分类号: TP242
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出版历程
- 收稿日期: 2016-05-03
- 录用日期: 2016-06-24
- 网络出版日期: 2017-05-20

Design and modeling of a soft bending actuator

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

Funds:

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

More Information

Corresponding author: KANG Rongjie, E-mail:rjkang@tju.edu.cn

摘要

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。
- 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.
- soft actuator /
- pneumatic actuation /
- bending deformation /
- mathematical model /
- finite element analysis

HTML全文

图 1 软体驱动器弯曲原理图

Figure 1. Diagram of bending principle for soft actuator

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图 2 软体驱动器结构示意图

Figure 2. Schematic of soft actuator's structure

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图 3 变形前后的驱动器尺寸

Figure 3. Size of actuator before and after deformation

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图 4 弯曲驱动器的几何形状

Figure 4. Geometry of bending actuator

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图 5 未变形驱动器几何形状

Figure 5. Geometry of undeformed actuator

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图 6 偏心距对驱动器弯曲角θ的影响

Figure 6. Influence of eccentric distance on bending angle θ of actuator

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图 7 有限元模型中P=80 kPa下驱动器状态

Figure 7. State of actuator in finite element model at P=80 kPa

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图 8 实验测量平台

Figure 8. Experimental measurement platform

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图 9 控制系统流程图

Figure 9. Flowchart of control system

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图 10 不同气压下软体驱动器末端位移

Figure 10. Tip displacement of soft actuator in different pressure

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表 1 软体驱动器设计参数

Table 1. Parameters for soft actuator design

参数	数值
长度l₀/mm	80
驱动器半径R₀/mm	6.5
空腔内径r₀/mm	1.5
空腔圆心偏离驱动器中心距离e₁/mm	3
不可伸长面与驱动器中心间距离e₂/mm	1.5
绕线圈数N	28
绕线螺旋角/(°)	5
质量/kg	0.017

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