软体弯曲驱动器设计与建模

摘要

与传统的“刚性”机器人相比,基于仿生学启发的软体机器人由于其与生俱来的柔顺性和安全性受到广泛关注.然而,此类软体机器人驱动器的设计与控制目前仍缺少理论指导.针对这些问题,设计了一种由气压驱动的可实现弯曲运动的新型软体驱动器,在系统分析其结构和弯曲原理的基础上,利用几何方法和虚功原理建立了其数学模型,并且通过有限元模型和原理样机实验验证了数学模型的有效性,为软体机器人驱动器的优化设计和控制提供了依据.%Compared with traditional "rigid" robots,soft robots inspired by biology have been of particular interest to the robotic communities due to their inherent compliance and safety.However,the actuation and control of the soft actuators for such soft robotics are still lacking of theoretical investigation.For these issues,a pneumatic actuator was designed to achieve compliant motions for use in soft robots.The mathematical model was then developed based on the analysis of its structure and bending principle utilizing the geometric analysis and the principle of virtual work.The model were finally validated by finite element model and prototype experiments,and can be used for the future design and control of soft robotic actuators.