气动多向柔性驱动器形变与驱动特性

Deformation and Driving Characteristics of Pneumatic Multidirectional Flexible Actuator

设计一种片状约束环套装5个密封弹性腔体和弹簧的气动多向柔性驱动器,分析驱动器受力和力矩,建立气压与轴向伸长量、驱动力、弯曲方向的非线性理论模型.通过试验与理论模型对比,获得驱动器在不同气压下的形变与驱动性能关系.结果表明:通过控制通入气体压力,可以控制驱动器产生不同程度的形变与驱动力;气压越大,形变与驱动力越大;该驱动器具有较高的灵活性和良好的驱动性能,改变通气方式,驱动器可以完成轴向伸长和空间多个方向的弯曲变形;0.23 MPa气压下驱动器轴向伸长量为137 mm,伸长率超过100%,弯曲角度达225°,轴向驱动力为242 N,弯曲夹持力为169 N.

A pneumatic multidirectional flexible actuator with five sealed elastic cavities and springs in a sheet constraint ring is designed.The nonlinear theoretical model of pressure and axial elongation,driving force,and bending direction is established by force and moment analysis.By comparing with the theoretical model,the relationship between the deformation and driving performance of the actuator under different pressures was obtained.The results show that the actuator deformation and actuation can be controlled in varying degrees by controlling the inlet air pressure.The higher the air pressure,the better the deformation and actuation performance;The actuator has high flexibility and good driving performance.By changing the ventilation mode,the actuator can achieve axial elongation and spatial bending deformation in multiple directions;Axial elongation is 137 mm under 0.23 MPa air pressure,the axial deformation of the driver exceeds 100%,the bending angle reaches 225°,the axial driving force is 242 N,and the bending driving force is 169 N.