多功能软体机械手的设计与建模

Design and Modeling of Multifunctional Soft Manipulator

设计了一款新颖的多功能软体机械手,其由两个软体手指和一个软体手腕集成一体。软体手指由四个并联的双向弯曲气动软体驱动器组成;软体手腕主要由一个双轴双向弯曲气动软体驱动器构成,软体手指、软体手腕协同动作,可以实现软体机械手的多方位、多任务操作。根据软体机械手所需运动范围和抓取力确定了软体机械手的尺寸参数。基于欧拉-伯努利梁理论,建立了上述两个双向弯曲软体驱动器的欧拉梁弯曲模型和悬臂梁弯曲模型,获得了双向弯曲软体驱动器弯曲曲率、弯曲力矩和充气气压三者之间的解析表达式,以及双向弯曲软体驱动器受到载荷时的弯曲变形曲线,通过双向弯曲软体驱动器的自由弯曲试验和弯曲变形试验验证了上述模型的正确性。通过软体机械手的闭合抓取试验和张开提起试验说明了软体机械手的实用性。

A novel multi-functional soft manipulator is designed,which consists of two soft fingers and a soft wrist.The soft finger is composed of four parallel bi-directional bending pneumatic soft drivers.The soft wrist is mainly composed of a two axis bi-directional bending pneumatic soft driver.The cooperative action of soft fingers and soft wrists can realize the multi-directional and multi-task operation of soft manipulator.The size parameters of the soft manipulator are designed according to the required range of motion and grasping force.Based on the Euler–Bernoulli beam theory,the Euler beam bending model and cantilever beam bending model of the two bi-directional bending soft drivers are established.The analytical expressions of the bending curvature,bending moment and air pressure of the bi-directional bending soft actuator are obtained,and the bending deformation curve of the bi-directional bending soft driver under load is obtained.The correctness of the above models is verified by the free bending experiments and bending deformation experiment of the bi-directional bending soft driver.The practicability of the soft manipulator is illustrated by the grasping experiment and the lifting experiment.