Design,Manufacture and Verification of Pneumatic Flexible Flexural Drive Joint
According to the principle of bionics,the joints and trunk of mollusc reptiles mainly cooperate with each other in the process of moving.Based on the function analysis of the curved joints of inchworm,a flexible bending drive joint driver based on the fast pneumatic mesh structure is designed to achieve the motion characteristics of the soft reptile joints.The static model of flexible flexural driven joint was established.The"soft bending drive joint"made of silicone material is made by distributed perfusion molding technology.By using Yeoh second-order model to analyze the static model,the relationship between the bending angle and tensile deformation under different driving pressure is obtained,and the tensile coupling model in the working process is established.ABAQUS finite element analysis software and experimental platform were used to verify the end point of the bending trajectory and the measured value of the model.The maximum error between the calculated value of the model and the actual value was 1.4mm,and the theoretical model of the tensile coupling model of the bending section of the"soft bending drive joint"was basically consistent with the actual model.
software drivercontinuum mechanicsfinite element analysispneumatic drive
万方数据
维普
