多向气动驱动器软体仿生舌弯曲状态的研究

董虎; 林苗; 顾苏程; 曹毅; 李巍

doi:10.13700/j.bh.1001-5965.2018.0788

多向气动驱动器软体仿生舌弯曲状态的研究

doi: 10.13700/j.bh.1001-5965.2018.0788

董虎^{1, 2},
林苗^{1, 2},
顾苏程^{1, 2},
曹毅^{1, 2, ,},
李巍³

1.
江南大学机械工程学院, 无锡 214122
2.
江苏省食品先进制造装备技术重点实验室, 无锡 214122
3.
苏州工业职业技术学院, 苏州 215104

基金项目:

国家自然科学基金 50905075

江苏省“六大人才高峰”计划 ZBZZ-012

高等学校学科创新引智计划 B18027

详细信息

作者简介:
董虎男, 硕士研究生。主要研究方向:软体机器人

林苗男, 硕士研究生。主要研究方向:柔性机构学

顾苏程男, 硕士研究生。主要研究方向:软体机器人

曹毅男, 博士, 教授。主要研究方向:并联机器人、混联机器人、柔性机器人、软体机器人

李巍男, 博士。主要研究方向:机器人深度学习

通讯作者:
曹毅, E-mail: caoyi@jiangnan.edu.cn

中图分类号: TP241
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- 文章访问数: 660
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- 被引次数: 0
出版历程
- 收稿日期: 2019-01-02
- 录用日期: 2019-03-08
- 网络出版日期: 2019-09-20

Motion characteristics of soft bionic tongue based on multi-directional pneumatic actuator

DONG Hu^{1, 2},
LIN Miao^{1, 2},
GU Sucheng^{1, 2},
CAO Yi^{1, 2
, ,},
LI Wei³

1.
School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China
2.
Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China
3.
Suzhou Vocational Institute of Industrial Technology, Suzhou 215104, China

Funds:

National Natural Science Foundation of China 50905075

the Six Talent Peaks Project in Jiangsu Province ZBZZ-012

Overseas Expertise Introduction Project for Discipline Innovation B18027

More Information

Corresponding author: CAO Yi, E-mail: caoyi@jiangnan.edu.cn

摘要

摘要:
以软体仿生舌为研究对象，针对多向驱动器的变形机理，开展了面向软体仿生舌的单/多向驱动器的弯曲特性研究。首先，设计了气动驱动软体仿生舌，其在单/多向驱动器的作用下可实现吐舌、翻舌、卷舌以及斜翻舌等动作；其次，为进一步研究驱动器的变形机理，开展了针对单/多向驱动器的结构及变形工作原理的研究；然后，基于Yeoh模型应变能密度函数，结合力平衡方程，建立了驱动压强和驱动器弯曲变形后曲率半径的非线性数学模型；最后，为验证理论模型的正确性，开展了软体仿生舌的仿真研究及相关实验验证，结果证明了理论模型的正确性。上述研究为其他基于气动驱动的软体结构变形机理的研究提供了理论基础。
- 软体仿生舌 /
- 气动驱动 /
- Yeoh模型 /
- 有限元仿真 /
- 弯曲特性
Abstract:
Aimed at multi-directional actuator deformation mechanism, this paper takes the soft bionic tongue as research object and the research on the motion characteristics of one/multi-directional actuator for the soft bionic tongue is carried out. Firstly, a soft bionic tongue driven by pneumatic actuator is designed, which can complete many actions including tongue stretching, twisting, rolling and tilting by the one/multi-directional actuator. Secondly, in order to further study the actuator's deformation mechanism, the research on the structure and deformation operating principle of one/multi-directional actuator is carried out. Then, a nonlinear mathematical model of radius of a soft bionic tongue actuated by specific pressure is established, which is based on the Yeoh model strain energy density function and combined with the force balance equation. Finally, the finite element simulation and experimental validation of the soft bionic tongue are carried out to verify the correctness of the theoretical model. Consequently, the above research provides a theoretical basis for other research on the deformation mechanism of pneumatically actuated soft structures.
- soft bionic tongue /
- air-driven /
- Yeoh model /
- finite element simulation /
- deformation mechanism

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图 1 舌示意图

Figure 1. Diagram of tongue

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图 2 多向驱动器结构及工作原理图

Figure 2. Diagram of structure and working principle of multi-directional actuator

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图 3 单向驱动器结构及工作原理图

Figure 3. Diagram of structure and working principle of one-directional actuator

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图 4 Yeoh模型材料常数拟合曲线

Figure 4. Fitting curve of Yeoh model parameter

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图 5 管状弯曲状态示意图

Figure 5. Bending diagram of tube

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图 6 板状弯曲状态示意图

Figure 6. Bending diagram of board

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图 7 软体仿生舌仿真示意图

Figure 7. Simulation diagram of soft bionic tongue

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图 8 多向驱动器的弯曲变形理论计算值及有限元仿真值

Figure 8. Theoretical calculations and finite element simulations with bending deformation of multi-directional actuator

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图 9 多向驱动器末端点坐标拟合曲线

Figure 9. Fitting curves with coordinate points of multi-directional actuator

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图 10 单向驱动器的弯曲变形理论计算值及有限元仿真值

Figure 10. Theoretical calculations and finite element simulations with bending deformation of one-directional actuator

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图 11 单向驱动器弯曲圆心角拟合曲线

Figure 11. Fitting curves with bending center angle of one-directional actuator

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图 12 软体仿生舌运动特性实验平台

Figure 12. Experiment platform with motion characteristics of soft bionic tongue

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图 13 多向驱动器弯曲实验结果

Figure 13. Bending experiment result of multis-directional actuator

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图 14 单向驱动器弯曲圆心角

Figure 14. Bending center angle of one-directional actuator

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图 15 软体仿生舌实验

Figure 15. Experiment of soft bionic tongue

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表 1 多向驱动器结构参数

Table 1. Structural parameters of multi-directional actuator

参数	数值/mm
驱动器长度L	100
连接管半径r₀	1.66
充气软管内径r₁	3
充气软管外径r₂	4
约束管圆弧半径r₃	5
约束管薄板宽a	1
约束管薄板长b	8

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表 2 单向驱动器结构参数

Table 2. Structural parameters of one-directional actuator

参数	数值/mm
驱动器长度L₁	100
充气软管内径r₄	2.2
充气软管外径r₅	2.5
约束管薄板宽c	0.8
约束管薄板长d	5

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表 3 多向驱动器末端点坐标及相对误差

Table 3. Coordinates of multi-directional actuator and its relative error

p/kPa	x_F/mm	y_F/mm	x_J/mm	y_J/mm	相对误差/%
46	26.296	87.974	20.920	86.671	5.71
48	31.726	86.194	27.761	84.011	7.21
50	38.361	83.271	34.809	80.289	8.89
52	46.248	78.535	41.7575	75.426	7.65
54	55.470	70.747	48.307	69.396	9.63
56	63.735	60.534	54.0700	62.363	10.52

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表 4 单向驱动器弯曲圆心角及相对误差

Table 4. Bending center angle of one-directional actuator and its relative error and its relative error

p/kPa	θ_F/rad	θ_J/rad	相对误差/%
15	0.395348	0.421403	6.59041
16	0.423527	0.448456	5.886147
17	0.632721	0.602154	4.831062
18	0.939089	0.852957	9.171863
19	1.383204	1.35569	1.989166
20	2.018431	2.198672	8.929779

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表 5 单向驱动器弯曲圆心角实验结果

Table 5. Experimental results with bending center angle of one-directional actuator

p/kPa	θ_J/rad	θ_F/rad	θ_S/rad
15	0.382480028	0.4214032	0.4
16	0.416491474	0.448456	0.4
17	0.515337908	0.602154	0.5
18	0.773391507	0.852957	0.7
19	1.241311947	1.35569	1.2
20	2.411736242	2.198672	1.9

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表 6 软体仿生舌实验

Table 6. Experiment of soft bionic tongue

运动类型	实验结果	仿真结果
翻舌/rad	1.4	1.520312
斜上翻/rad	1.2	1.310291
斜下翻/rad	1.1	1.253652
左摆舌/rad	1.3	1.49212
右摆舌/rad	1.3	1.49212
吐舌/mm	6.4	5.93356
卷舌/mm	1.2	1.426356

下载: 导出CSV

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