网格结构Pneu-Net软体驱动器内部压力分析与应用

Internal pressure analysis and application of soft actuator with grid structure Pneu-Net

从流体力学的角度来对驱动器内部气压分布进行分析,利用长波近似的方法将气动网格软体驱动器简化成弹性直管道,推导出驱动器内部流体流动控制方程,得到驱动器内部气压、轴向位置与时间之间的关系,并通过实验验证了控制方程的准确性。根据管径越小流阻越大的特性,设计了一种气道半径渐变的三关节仿生手指,实现三关节仿生手指在单气源输入下的依次顺序弯曲,简化了气压驱动的控制方式。

The air pressure distribution inside the actuator from the perspective of fluid dynamics is analyzed.The long-wave approximation method is used to simplify the pneumatic mesh soft actuator into an elastic straight pipe.The control equation of fluid flow inside the actuator is derived to obtain the relationship between inner air pressure,axial position of actuator and time.And the accuracy of the control equation is verified by the experiment.A three-joint bionic finger with a gradual change of airway radius is designed,according to the characteristic of the smaller the diameter of the tube,the higher the flow resistance.Sequential bending of three-joint bionic finger under single air source input is realized,which simplifies the control method of air pressure drive.