机械与电子2023，Vol.41Issue(12)：10-14,19,6.
三腔道软体驱动器弯曲预测方法的研究
Research on Bending Prediction Method of Three-chamber Soft Actuator
摘要
Abstract
As one of the most promising structural features of three-cavity soft actuators,there is still a lack of a simple and effective deformation prediction method in the research on the spatial deformation mechanical characteristics of existing three-cavity soft actuators.To cope with this problem,firstly,the vector equation method is proposed based on the principle of spatial deformation of the soft actuator.Sec-ondly,a nonlinear mathematical model of the spatial position and deformation trajectory of the air pressure and the end of the soft actuator was established based on the deformation effect of the air pressure passed into the single cavity of the three-cavity soft actuator,combined with the vector equation method.Finally,the finite element simulation and physical experiments of three-cavity soft actuator is completed.The re-sults show that the mathematical model established based on the vector equation method can better predict the spatial deformation trajectory of the actuator,which provides a new research method for studying the spatial deformation of the three-cavity soft actuator.关键词
软体驱动器/三腔道软体/矢量方程法/有限元仿真Key words
soft actuator/three-cavity soft/vector equation method/finite element simulation分类
信息技术与安全科学引用本文复制引用
李旭,刘胜..三腔道软体驱动器弯曲预测方法的研究[J].机械与电子,2023,41(12):10-14,19,6.基金项目
国家自然科学基金青年基金(11604205) （11604205）
