基于视觉的软体气动驱动器变形观测与仿真分析

Deformation Observation and Simulation Analysis of Soft Pneumatic Actuator Based on Vision

软体气动驱动器常被用作为软体抓手,但在抓取质量较大的物体时常常因为反作用力产生变形而导致抓取失败。针对这一现象,文中提出一种基于视觉的软体气动驱动器变形观测方法。文中利用相机记录软体气动驱动器在不同气压下作用下的弯曲变形图片,使用视觉处理的方法提取出驱动器的变形曲线以便更准确地观测驱动器的变形。使用有限元仿真软件ABAQUS对驱动器在不同气压作用下的变形进行仿真分析并提取变形曲线。实验曲线和仿真曲线的相似度的对比结果表明,基于视觉提取驱动器变形曲线的方法可以更加准确地观测驱动器的变形。

Soft pneumatic actuators are often used as soft grippers,but when grasping objects with large mass,they often deform due to reaction forces,resulting in grasping failure.Aiming at this phenomenon,this paper presents a vision-based deformation observation method for soft pneumatic actuators.Taking camera records the bending deformation pictures of the soft pneumatic actuator under different air pressures,and the deformation curve of the actuator is extracted by visual processing method in order to observe the deformation of the driver more accurately.The finite element simulation software ABAQUS is used to simulate and analyze the deformation of the actuator under different air pressures and extract the deformation curve.By comparing the similarity between the experimental curve and the simulation curve,the results show that the method of extracting the driver deformation curve based on vision can more accurately observe the deformation of the driver.