摘要
为提高软体机器人的承载能力,利用颗粒物质兼具流体和阻塞刚化的特性,设计了一种变刚度弯曲软体驱动器。以颗粒物质力学为指导,设计并制造了变刚度弯曲软体驱动器样机。通过试验获得了分别描述颗粒物质和变形腔材料的联合弹塑性模型、Ogden超弹本构模型,提出了软体驱动器运动过程的有限元仿真方法,搭建了变刚度软体驱动器实验平台。实验与仿真获得的弯角误差约为15.6%,利用颗粒阻塞原理可使承载能力提高约1.75倍。
To improve the carrying capacity of soft robot,a variable stiffness bending soft actuator was designed by utilizing both of the characteristics,flow and jamming of granular matter.A prototype of variable stiffness bending soft actuator was designed and made based on the mechanics of granular matter.Elastoplastic joint model and Ogden hyperelastic constitutive model individually describing the granular matter and the deformation cavity materials were obtained through experiments.Finite element simulation methods of the soft actuator motion processes were proposed.The experimental platform of variable stiffness soft actuator was set up.Bending angle errors obtained by the experiments and simulations are about 15.6%.The carrying capacity may increase about 1.75 times by using granular jamming principle.
作者
韩奉林
李鹏
李明辉
田亮
HAN Fenglin;LI Peng;LI Minghui;TIAN Liang(College of Mechanical and Electrical Engineering,Central South University,Changsha,410012;Light Alloys Research Institute,Central South University,Changsha,410012;State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha,410012)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2020年第8期890-897,共8页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51405518)。
关键词
软体驱动器
颗粒流
变刚度
阻塞
运动仿真
soft actuator
granular flow
variable stiffness
jamming
motion simulation
