增强型气动柔性驱动器形变与驱动特性实验
Enhanced Pneumatic Flexible Actuator Deformation and Actuation Characteristics Experiments
苟志攀 1耿德旭 1刘洪波 1武广斌 1贾鑫1
作者信息
- 1. 北华大学机械工程学院,吉林吉林 132021
- 折叠
摘要
为解决现阶段柔性驱动器负载能力低、变形范围小等问题,设计并制作一种三自由度气动柔性驱动器,分析其变形机制并通过实验研究增强肌肉对驱动器伸长量、弯曲方向及弯曲角度、驱动力的影响.实验结果表明:通过控制驱动器人工肌肉内腔气压,驱动器可以产生轴向伸长和空间 0°～360°任一方向弯曲变形;增强肌肉通压对驱动器变形量和驱动力有增幅作用,0.4 MPa气压下驱动器无增强肌肉时伸长率为 49％,弯曲角度为 68°,轴向驱动力为 278 N;有增强肌肉时驱动器伸长率为 54％,弯曲角度为 77.5°,轴向驱动力为 300 N.
Abstract
In order to solve the problems of low loading capacity and small deformation range of flexible actuators at the present stage,a three-degree-of-freedom pneumatic flexible actuator was designed and fabricated,its deformation mechanism was analyzed and the effect of muscle enhancement on actuator elongation,bending direction and bending angle,and driving force was studied experimen-tally.The experimental results show that by controlling the air pressure inside the artificial muscle cavity of the actuator,the actuator can produce axial elongation and bending deformation in any direction from 0° to 360° in space;the enhanced muscle ventilation has an in-creasing effect on the deformation and driving force of the actuator,under 0.4 MPa air pressure,the elongation rate of the actuator with-out enhanced muscle is 49％,the bending angle is 68° and axial driving force is 278 N,and the elongation rate of the actuator enhanced muscle is 54％,the bending angle is 77.5° and the axial driving force is 300 N.
关键词
柔性驱动器/增强肌肉/轴向伸长/弯曲角度/驱动力Key words
flexible actuator/enhanced muscle/axial elongation/bending angle/driving force引用本文复制引用
基金项目
吉林省发改委产业自主创新能力项目(2020C021-4)
吉林省教育厅科学技术研究项目(JJKH20220048KJ)
北华大学研究生创新计划项目(北华研创合字[2022]005)
出版年
2024
NETL
NSTL
万方数据