气动纤维增强软体执行器的设计与控制

Design and control of soft pneumatic fiber-reinforcement actuator

针对传统刚性机器人有限的自由度和环境适应性差等不足,该文设计了一种气动纤维增强软体执行器。该执行器以硅橡胶为制作材料,采用气压驱动的方式,通过处理采集执行器内部压力和弯曲角度等信号,控制腔体压力的大小,从而改变执行器弯曲角度。针对不同的运动状态,对系统性能进行评估。实验结果表明,该执行器具有很好的灵活性和无限自由度,运动连续平滑,环境适应性强,所设计的系统具有较强的鲁棒性。

Aiming at the limited degree of freedom and the weak environmental compliance of traditional rigid robots,a soft pneumatic fiber-reinforcement actuator is proposed here. This actuator fabricated from silicone rubber is driven by the air,and its bending angle of the body is controlled by the change of pressure acquired by processing the signal of the actuator＇s internal pressure and the bending angle. To demonstrate the robustness of this system,experiments are performed to assess the performance of different status. The results indicate that the actuator has good dexterity and infinite degree of freedom,and can perform continuously and smoothly with good adaptation to the environment.