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摘要:
针对目前软体机器人缺乏变形和接触力方面理论研究的问题，以软体夹持器为研究对象，开展了纤维增强型软体夹持器变形及末端接触力的研究。首先设计了气动软体夹持器，该夹持器由纤维增强型单向弯曲驱动器、接触气囊以及单元的连接装置组成；其次基于Yeoh模型、Neo-Hookean模型分别建立了弯曲驱动器驱动压强与弯曲变形圆心角的非线性数学模型和弯曲驱动器末端接触力理论模型；然后开展了软体夹持器变形和末端接触力的仿真及实验，结果证明了理论模型的正确性；最后进行了纤维增强结构对软体夹持器变形和末端接触力影响的研究，实验结果表明：纤维增强结构能大幅度提高软体夹持器的变形和末端接触力。上述研究为其他纤维增强型软体夹持器变形及末端接触力的研究提供了理论基础。
Abstract:In order to solve the problem of lacking the research on the deformation and end contact force of soft robotics, a soft gripper is taken as the research object, and the research on the deformation and end contact force of fiber-reinforced soft gripper is carried out. Firstly, a soft pneumatic gripper is designed, which is composed of a unidirectional bending drive with a fiber-reinforced structure, an axially elongated contact airbag and a unitary connecting device. Secondly, a nonlinear mathematical model of curved center angle of a soft drive actuated by specific pressure is established, which is based on the Yeoh model. Based on the Neo-Hookean model, the theoretical model of the end contact force of the bending actuator is established. Then, a finite element simulation and experimental validation of the soft gripper are carried out to verify the correctness of the theoretical model. Finally, the study on the effect of fiber-reinforced structure on the deformation and end contact force of gripper is carried out. Experimental results show that fiber-reinforced structure can improve the deformation and end contact force of the soft gripper greatly. This research provides a theoretical basis for the research on the deformation and end contact force of other fiber-reinforced soft grippers.
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Key words:
- fiber-reinforced /
- soft gripper /
- Yeoh model /
- Neo-Hookean model /
- deformation /
- end contact force
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图 1 纤维增强型软体夹持器结构示意图
Figure 1. Schematic diagram of structure of a fiber-reinforced soft gripper
图 5 变形前后的单向弯曲驱动器的尺寸
Figure 5. Size of unidirectional bending actuator before and after deformation
图 6 单向弯曲驱动器弯曲力矩分析
Figure 6. Analysis of unidirectional bending actuator bending torque
图 7 单向弯曲驱动器弯曲仿真示意图
Figure 7. Schematic diagram of unidirectional bending actuator bending simulation
图 10 单向弯曲驱动器弯曲变形圆心角示意图
Figure 10. Schematic diagram of bending deformation central angle of unidirectional bending actuator
图 11 单向弯曲驱动器弯曲变形圆心角的理论计算值、有限元仿真值和实验值
Figure 11. Theoretical calculation values, finite element simulation values and experimental values of bending deformation central angle of unidirectional bending actuator
图 12 单向弯曲驱动器末端接触力实验
Figure 12. Experiment on end contact force of unidirectional bending actuator
图 13 单向弯曲驱动器末端接触力的理论计算值、有限元仿真值和实验值
Figure 13. Theoretical calculation values, finite element simulation values and experimental values of end contact force of unidirectional bending actuator
图 15 接触气囊末端接触力实验值与有限元仿真值对比
Figure 15. Comparison of end contact force of contact airbag between experiment and finite element simulation
图 16 线圈匝数对单向弯曲驱动器弯曲变形圆心角的影响
Figure 16. Influence of coil number on bending deformation central angle of unidirectional bending actuator
图 17 单向弯曲驱动器弯曲变形圆心角拟合曲线
Figure 17. Fitting curve with bending deformation central angle of unidirectional bending actuator
图 18 单向弯曲驱动器末端接触力拟合曲线
Figure 18. Fitting curve with end contact force of unidirectional bending actuator
表 1 单向弯曲驱动器结构参数
Table 1. Structure parameters of unidirectional bending actuator
参数 数值 驱动器空腔长度L1/mm 45 驱动器总宽B/mm 30 驱动器总高H/mm 10 驱动器末端长度L2/mm 10 驱动器接触端半径R/mm 10 气囊壁厚t/mm 1 线圈匝数N 15 
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表 2 接触气囊结构参数
Table 2. Contact airbag structure parameters
参数 数值 接触层气囊直径Dj/mm 25 柱状固定末端直径Dz/mm 24 双层气囊初始长度Lc/mm 10 柱状固定末端长度Lz/mm 6 气囊层间夹角θn/(°) 67
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表 3 单向弯曲驱动器弯曲变形圆心角对比
Table 3. Comparison of bending deformation central angle of unidirectional bending actuator
P/MPa θJ/(°) θF/(°) θS/(°) 0.029 60.123 3 67.115 8 61.5 0.030 66.747 3 69.290 0 65.0 0.031 73.452 1 71.418 8 68.0 0.032 80.234 4 73.547 9 71.5
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表 4 单向弯曲驱动器末端接触力对比
Table 4. Comparison of end contact force of unidirectional bending actuator
P/MPa FJ/N FF/N FS/N 0.01 0.124 896 0.142 313 0.13 0.02 0.449 792 0.513 339 0.49 0.03 0.899 584 0.966 668 0.88 0.04 1.324 480 1.479 03 1.38 0.05 1.874 688 1.991 392 2.14
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表 5 线圈匝数对单向弯曲驱动器弯曲程度的影响
Table 5. Influence of coil number on bending degree of unidirectional bending actuator
N P/MPa θF/(°) θS/(°) 相对误差/% 5 0.02 20.08 19.14 4.91 10 0.02 39.69 37.23 6.61 15 0.02 48.92 47.25 3.53 16 0.02 49.85 47.38 5.21 17 0.02 50.61 47.50 6.55 18 0.02 51.34 47.61 7.83 19 0.02 51.93 47.69 8.89 20 0.02 52.14 47.73 9.24
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表 6 纤维增强结构对单向弯曲驱动器弯曲程度的影响
Table 6. Influence of fiber-reinforced structure on bending degree of unidirectional bending actuator
P/MPa θ1/(°) θ2/(°) 增大倍数 0.01 6.93 24.14 3.48 0.02 9.27 47.11 5.08 0.03 12.35 69.29 5.61 0.04 14.40 89.89 6.24 0.05 16.12 107.89 6.69
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表 7 纤维增强结构对单向弯曲驱动器末端接触力的影响
Table 7. Influence of fiber-reinforced structure on end contact force of unidirectional bending actuator
P/MPa F1/N F2/N 增大倍数 0.01 0.062 3 0.131 3 2.11 0.02 0.213 3 0.488 0 2.29 0.03 0.466 7 0.875 1 1.88 0.04 0.679 0 1.382 8 2.04 0.05 0.891 4 2.138 4 2.40
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