摘要
设计了一种类似于手指的末端执行器结构,包含3个“关节”,由邵氏硬度为83 A的热塑性弹性体(TPE)3D打印而成。因成型温度等因素对材料结构参数的影响,通过拉伸试验获取应力应变曲线,计算出基于Mooney-Rivlin模型下当前材料参数C_(10)、C_(01),籍此有限元软件仿真分析其弯曲性能,进行弯曲性能试验对比分析有限元仿真结果。搭建试验台架进行抓取试验,有效抓取0~100 g范围内的试验物体。
A kind of soft actuator structure similar to human finger is designed,which contains three″joints″.It is made of thermoplastic elastomer(TPE)with a shore hardness of 83A.Due to the influence of the forming temperature and other factors on the structural parameters of the material,the stress-strain curve was obtained via tension test,on Mooney Rivlin model,the material parameters C_(10) and C_(01) are calculated via tension test,and the bending performance is analyzed with the finite element software.To compare and analyze the finite element simulation results,the bending performance experiment is carried out.The experimental platform was built to grasp the experimental objects in the range of 0-100 g.
作者
曹淼龙
杨元健
张波
CHIWAWA Tafara Austine
CAO Miaolong;YANG Yuanjian;ZHANG Bo;CHIWAWA Tafara Austine(School of Mechanical and Energy Engineering,Zhejiang University of Science&Technology,Hangzhou 310023,China;Faculty of Mechanical Engineering and Automation,Zhejiang University of Sci-Tech,Hangzhou 310018,China)
出处
《机械科学与技术》
CSCD
北大核心
2022年第2期207-212,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51975537)。
关键词
气动软体执行器
有限元分析
3D打印
抓取实验
pneumatic soft actuator
finite element analysis
3D printing
grasping experiment
