仿生章鱼爪气动螺旋软体驱动器仿真及实验

Simulation and Experiment of Bionic Octopus Claw Based on Pneumatic Spiral Soft Actuators

由弹性材料制成的气动多腔室型软体驱动器可以通过简单的控制产生复杂的运动。提出并设计了0°PN和60°PN两种多腔室仿生章鱼爪软体驱动器。0°PN软体驱动器能够进行二维弯曲运动,60°PN软体驱动器在0°PN的结构基础上更改腔室角度,能够实现三维空间的弯曲和扭转,形成螺旋结构。使用Abaqus软件对软体驱动器进行有限元分析,得到两种软体驱动器的气压-位移变化曲线、气压-末端输出力变化曲线。利用模具浇铸法制作0°PN和60°PN软体驱动器,并开展两种软体驱动器在不同气压下的弯曲试验和末端输出力的测量试验,实验与仿真结果一致,结果表明60°PN软体驱动器的气压承载能力提高1.5倍,末端输出力提高1.8倍。

Soft pneumatic network actuators made of elastic material can generate complex motions by simple control.Two multi-chamber soft actuators with bionic octopus claw structure,0°PN and 60°PN,are proposed and designed.The 0°PN soft actuator can generate bending motion in two-dimensional space.The 60°PN soft actuator is changed the chamber angle based on the 0°PN.It can realize the bending and twisting motions in three-dimensional space and form a spiral structure.The finite element analysis of two soft actuators is accomplished by Abaqus and the air pressure-displacement curve and the air pressure-bottom output force curve are obtained.The 0°PN and 60°PN soft actuators are fabricated by mold casting.The bending range test and the generated force test of the two soft actuators under different air pressures are set up.The experimental results are consistent with the simulation results.The results indicate that the carrying capacity of 60°PN can be increased about 1.5 times,bottom output force can be increased about 1.8 times.