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多气腔软体致动器的弯曲特性分析和试验验证
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上海市联盟计划项目(LM2018-5);上海应用技术大学协同创新基金(XTCX2018-13);上海应用技术大学研究生优秀学位论文培育项目


Bending Characteristic Analysis and Experimental Verification of Multi Cavity Soft Actuator 
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    摘要:

    软体致动器是组成各类软体机器人的基本组成单元,对于软体机器人的应用具有重要的意义,因此设计一种由气压驱动的增强纤维式多气腔软体致动器。运用虚功原理对软体致动器进行力学建模;采用有限元软件进行仿真分析。搭建包含气动回路和控制电路的控制系统;采用单腔驱动,对软体致动器的弯曲性能进行试验;采用BP神经网络对软体致动器的气压和角度的非线性关系进行拟合,拟合误差在1°以内;通过样机试验,证明了理论模型和有限元分析的准确性,为软体机器人的设计提供了理论支持。

    Abstract:

    Soft actuator is the basic unit of all kinds of soft robots, which is of great significance for the application of soft robots. A fiber-reinforced multi cavity soft actuator driven by air pressure was designed. The mechanical model of the soft actuator was established by using virtual work principle; the finite element software was used for simulation analysis. The control system including pneumatic circuit and control circuit was built; the bending performance of the soft actuator was tested by single cavity drive; BP neural network was used to fit the nonlinear relationship between air pressure and angle of the soft actuator, and the fitting error was within 1°. Through the prototype test, the accuracy of the theoretical model and finite element analysis was proved. It provides theoretical support for the design of soft robot.

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张珂,魏洪涛,苏凯伦,李青松.多气腔软体致动器的弯曲特性分析和试验验证[J].机床与液压,2022,50(10):63-69.
ZHANG Ke, WEI Hongtao, SU Kailun, LI Qingsong. Bending Characteristic Analysis and Experimental Verification of Multi Cavity Soft Actuator [J]. Machine Tool & Hydraulics,2022,50(10):63-69

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  • 在线发布日期: 2022-06-30
  • 出版日期: 2022-05-28