| Citation: | DONG Hu, LIN Miao, GU Sucheng, et al. Motion characteristics of soft bionic tongue based on multi-directional pneumatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(9): 1882-1893. doi: 10.13700/j.bh.1001-5965.2018.0788(in Chinese)
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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.
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