摘要
现有软体机器人的驱动器结构大多为纤维增强型和多腔体型,针对此类软体驱动器存在的问题,开展新型软体驱动器的研究。首先介绍了新型软体驱动器结构的设计思路,为进一步研究结构的合理性,进行了基于Yeoh模型的软体驱动器弯曲特性理论的分析,得到曲率半径与充气压强之间的数学模型,并通过软体驱动器的制作和实验平台的搭建对理论模型进行验证,证明了结构模型的正确性。
The drive structure of the existing soft robots is mostly fiber-reinforced and multi-cavity types.For the soft actuators,a novel soft actuator is developed.Firstly,the design idea of the novel soft actuator structure is introduced.In order to further study the rationality of the structure,the analysis of the bending characteristics of the soft actuator via Yeoh model is carried out,and the relationship model between the radius of curvature and the inflation pressure is obtained,and the soft actuator is used.The construction of the production and experimental platform validates the model and proves the correctness of the structural model.
作者
李明鑫
宁萌
陈海卫
LI Mingxin;NING Meng;CHEN Haiwei(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,Jiangsu,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,Jiangsu,China)
出处
《机械科学与技术》
CSCD
北大核心
2021年第1期33-39,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51705201)
2018年中国博士后科学基金第63批面上项目(2018M630515)。
关键词
软体驱动器
Yeoh模型
弯曲特性
实验验证
soft actuator
Yeoh model
bending characteristics
experiment verification
