基于波纹管软体驱动器的设计与制作

Design and manufacture of soft actuator based on bellows

近年来,软体机器人因其显著的特点而广受科研人员的青睐。软体机器人的运动主要来自于软体驱动器,因此研究适用的软体驱动器对其应用比较关键。基于波纹管设计了一种具有伸长运动的软体驱动器,通过有限元分析软件探讨了其主要结构参数对软体驱动器运动性能的影响,并采用一种改进的失蜡铸造法来制作软体驱动器;然后搭建试验平台对软体驱动器的性能进行测试。试验结果表明,驱动器的伸长量能达到83 mm,伸长率为79.8%,证明所设计的软体驱动器运动性能较好,制作成本低,为软体机器人更广泛的应用提供了可能性。

In recent years,soft robot has been widely favored by researchers because of its remarkable characteristics.The movement of soft robot mainly comes from the soft actuator,so the research on the suitable soft actuator is very important for its application.A soft actuator with elongation was designed based on the bellows,and its main structure parameters effect on the motion performance of the soft actuator was discussed through the finite element analysis software.A soft actuator was made by using an improved lost-wax casting method.Then the test bench was built to test the performance of the soft actuator.The test results show that the elongation of the actuator can reach 83 mm and the elongation rate is 79.8%,which proves that the designed soft actuator has good motion performance and low production cost,and provides a certain basis for the application of soft robot.