气压软轴联合驱动的软体救援机器人设计与仿真

Design and Simulation of A Novel Soft Rescue Robot Driven by A Pneumatic and A Flexible Shaft

设计了一种能够通过复杂结构空间的软体救援机器人,该机器人通过气压软体通道实现末端执行机构的定位,软体通道内插入软轴实现钻孔、扭螺丝等操作.并对软体机器人的气腔耦合结构和充气状态下的弯曲变形进行了研究,可以实现任意方向的大范围弯曲.采用Yeoh模型研究了机器人弯曲过程中的非线性力学特性,得出内部气压与弯曲角度之间的关系模型.

A soft rescue robot which can pass through the complicated structural space is designed.The robot can position the end mechanism by adjusting the pneumatic soft channel and insert the flexible shaft into the soft channel to implement drilling,twisting screw and other operations.In addition,the air-cavity coupling structure and the bending deformation under the inflated state are researched,and it can be bent over a wide range in any direction.The mechanical properties of the robot during bending are studied using the Yeoh model,and the relationship between internal air pressure and bending angle is obtained.