摘要
针对纤维增强型软体驱动器的变形和接触力,分析缠绕线圈的数量及其间距与驱动器弯曲的关系,提出驱动气压与驱动器弯曲角度的非线性数学模型及其接触力的理论模型,并通过有限元分析和测试实验进行验证。结果表明:纤维增强结构显著改善了软体驱动器的弯曲性能和接触力。
Aiming at the deformation and contact force of fiber reinforced soft actuators,the relationship between the number of winded coils as well as their pitch and the actuator’s bending were analyzed,and a nonlinear mathematical model of driving pressure and driver bending angle and the theoretical model of its contact force were proposed,the above two models were verified through finite element analysis and experiments.The results show that the fiber-reinforced structure can significantly improve the bending behavior and the contact force of soft actuators.
作者
张梽轩
潘剑飞
徐东亮
李英田
ZHANG Zhixuan;PAN Jianfei;XU Dongliang;LI Yingtian(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan Hubei 430070,China;College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen Guangdong 518060,China;Institute of Biomedical and Health Engineering,Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen Guangdong 518055,China)
出处
《机床与液压》
北大核心
2022年第20期154-158,共5页
Machine Tool & Hydraulics
基金
深圳市科技创新委员会基础研究重点项目(JCYJ20210324115609025)。
关键词
软体驱动器
纤维增强结构
数学建模
弯曲变形
末端接触力
Soft actuator
Fiber-reinforced structure
Mathematical modeling
Bending deformation
End contact force
