基于ABAQUS的气动软体弯曲致动器仿真分析
Simulation and analysis of ABAQUS-based pneumatic soft bending actuator
涂龙龙 1苏鹏飞 1祝志芳 2余宏涛 1刘国辉 3杨廷润 1习俊梅1
作者信息
- 1. 南昌工程学院精密驱动与装备江西省重点实验室,江西南昌 330099
- 2. 南昌工程学院精密驱动与装备江西省重点实验室,江西南昌 330099;浙江理工大学机械工程学院,浙江杭州 310018
- 3. 国家电投集团江西中业兴达电力实业有限公司,江西南昌 330096
- 折叠
摘要
软体机器人的性能主要取决于致动器,但现有软体机器人致动器存在结构欠优等问题.基于此,提出了一种结构简单、易于控制的气动软体弯曲致动器,其内部腔室为四圆柱直腔,外部约束为O形圈;并基于ABAQUS有限元分析,采用控制变量法研究气动软体弯曲致动器的壁厚、长度、气腔半径、气腔偏心距等9个几何参数对其弯曲性能的影响,得到了较优的几何参数.当致动器对单腔施加压力为200 kPa时,可得最大弯曲角124.22°,弯曲性能提高了 51.65％.
Abstract
The performance of soft-body robots mainly depends on the actuator.There are still some difficulties in the optimi-zation of actuator structure,and there is an urgent need to analyze the geometrical parameters of actuators with different structures,so a simple and easy-to-control pneumatic soft-body bending actuator is proposed,whose internal chamber is a four-cylindrical straight cavity,and the external constraint is an O-ring.Based on the finite element analysis of ABAQUS software,the control variable method is used to analyze and study the effects of changing nine geometric parameters such as wall thickness,length,cavity radius,cavity eccentricity,etc.on the bending performance of the pneumatic soft body bending actuator,and the better geometric parameters are obtained.When the actuator applies pressure of 200 kPa to a single cavity,the maximum bending angle of 124.22° is obtained,and the bending performance is improved by 51.65％and it can guide the optimization of other pneumatic soft body bending actuators.
关键词
软体弯曲致动器/有限元分析/几何参数分析/控制变量法Key words
soft-body bending actuator/finite element analysis/geometric parameter analysis/control variable method引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据