模块化气动软体爬行机器人的设计与分析
Design and analysis of modular pneumatic soft crawling robots
尹宏飞 1吕跃东 2宋晓娟1
作者信息
- 1. 内蒙古工业大学 机械工程学院,呼和浩特 010051;内蒙古自治区特殊服役智能机器人重点实验室,呼和浩特 010051
- 2. 内蒙古北方重工业集团有限公司 特钢事业部,包头 014033
- 折叠
摘要
[目的]模块化软体机器人具备高柔韧性与理论上的无限自由度,可以适应各种复杂的环境和任务需求.为此,设计了一种仿蜂巢软体驱动单元,将多个该单元连接组成可以实现不同功能的模块化驱动软体机器人.[方法]对设计的仿蜂巢软体驱动单元进行了材料选择与力学分析,建立了软体驱动单元内部驱动气压与变形量之间的非线性关系模型,并采用有限元仿真验证了该模型的有效性;基于仿蜂巢软体驱动单元模块,设计了伸缩型软体机器人和双向弯曲型软体机器人,并对两种构型的软体机器人进行有限元仿真;最后,进行了软体机器人的制作以及模块化驱动软体机器人的试验研究.[结果]仿真结果表明,双向弯曲型软体机器人比相同长度的伸缩型软体机器人在伸缩变形范围上更大,其承载能力较伸缩型软体机器人也更好.试验结果表明,双向弯曲型软体机器人可以实现仿蠕虫的直线爬行与转向运动.并且两种构型的软体机器人试验结果与仿真结果基本保持一致.
Abstract
[Objective]The modular soft robot has high flexibility and unlimited degrees of freedom in theory,and can adapt to various complex environments and task requirements.Therefore,a kind of honeycomb soft driving unit was designed,which can be connected and composed to realize the modular driving soft robot with different functions.[Methods]The material selec-tion and mechanical analysis of the designed imitation honeycomb soft drive unit were carried out,and a nonlinear relational model between the driving pressure and deformation in the soft drive unit was established;the validity of the model was verified by combining with the finite element simulation.Based on the imitation honeycomb soft body drive unit module,a flexible soft robot and a bidirectional bending soft robot were designed,and finite element simulations on both configurations of soft robots were conducted.Finally,the production of soft robots and test research on the modular driving of soft robots were conducted.[Results]The simulation results show that the bidirectional bending soft robot has a larger deformation range and better bearing capacity than the flexible soft robot with the same length.The test results show that the bidirectional bending soft robot can real-ize the linear crawling and turning motion like worm.And the test results of two kinds of soft robot configurations are basically consistent with the simulation results.
关键词
模块化/气动软体机器人/非线性模型/结构仿真分析Key words
Modularity/Pneumatic soft robot/Nonlinear model/Structural simulation analysis引用本文复制引用
出版年
2025
NETL
NSTL
万方数据