摘要
设计了一种以压缩气体为动力源的伸长型“刚-柔耦合”气动柔性驱动器,驱动器采用内外嵌套结构,内部为弹性气囊,外部为约束弹簧,能有效提高驱动器刚度.为研究不同刚度的约束弹簧对气动柔性驱动器静力学性能的影响,采用实验方法研究了不同弹簧丝直径的驱动器轴向伸长变形、驱动力与工作气压的关系.实验结果表明:驱动器伸长量随工作气压的增大呈非线性增加,在相同工作气压下,约束弹簧丝直径与驱动器伸长量呈负相关;伸长量为零时,驱动器具有的轴向驱动能力最大,不同刚度驱动器最大驱动力相同,与工作气压呈正相关.为伸长型气动柔性驱动器在软体机器人的进一步应用提供可行方案.
An elongated“rigid-flexible coupling”pneumatic flexible driver with compressed gas as the power source is designed.The driver adopts an inner and outer nested structure,with an elastic airbag inside and a restraining spring outside,which can effectively improve the rigidity of the driver.In order to study the influence of restraint springs of different stiffness on the statics performance of pneumatic flexible actuators,experimental methods were used to study the relationship between actuator axial elongation deformation,driving force and working air pressure with different spring wire diameters.The experimental results show that the extension of the actuator increases non-linearly with the increase of the working air pressure.Under the same working air pressure,the diameter of the constrained spring wire is negatively correlated with the extension of the actuator;when the elongation is zero,the actuator has an axial direction The driving capacity is the largest,and the maximum driving force of the actuators with different stiffness is the same,which is positively related to the working air pressure.This research provides a feasible solution for the further application of the elongated pneumatic flexible actuator in the soft robot.
作者
梁正
武广斌
LIANG Zheng;WU Guangbin(School of Mechanical Engineering,Beihua University,Jilin 132021,China)
出处
《吉林化工学院学报》
CAS
2021年第5期70-73,共4页
Journal of Jilin Institute of Chemical Technology
关键词
柔性驱动器
气压驱动
静力学性能
flexible driver
pneumatic drive
static performance
