绳驱动仿生软体机械臂结构设计与弯曲特性仿真

Structural Design and Bending Characteristics Simulation of a Rope-driven Bionic Soft Robot Arm

提出了一种基于绳驱动的波纹状软体仿生机械臂,机械臂本体由软体硅胶制成,具有高灵活性、较好的环境适应性及人机交互安全性等特点。该机构通过利用柔顺机构学原理将软体机械臂设计为波纹状,既优化了机械臂受到绳驱动时的弯曲特性,又兼具圆柱型软体机械臂的承载性能。相比传统的刚性机械臂,软体机械臂没有任何刚性关节,因此引入了分段恒曲率假设对其定义,结合软体机械臂特点利用有限元分析软件进行仿真分析,验证了其在驱动绳不同长度变化量下的弯曲特性及受力情况。

This paper presents a kind of corrugated soft bionic manipulator based on rope drive.The manipulator body is made of soft silica gel,which has the characteristics of high flexibility,good environmental adaptability and human-computer interaction security.By using the principle of compliant mechanism,the soft manipulator is designed to be wavy,which not only optimizes the bending characteristics of the manipulator driven by the rope,but also has the bearing capacity of the cylindrical soft manipulator.In contrast to conventional rigid arms,the soft robot arm does not have any rigid joints,so the segmental constant curvature assumption is introduced to define it.Simulation analysis is carried out using finite element analysis software in conjunction with the characteristics of the soft robot arm to verify bending characteristics and stresses under different length variations of the drive rope.