气动扇形腔室软体弯曲驱动器的设计及分析OA北大核心CSTPCD

In order to design a large angle bending actuator with a simple structure,convenient production and easy modeling,a soft multi chamber bending actuator with a fan-shaped chamber structure was proposed.The actuator was made of super-elastic material.The functional relationship between input air pressure and bending angle was established based on the Yeoh model.The simulation of the bending actuator under different air pressures was carried out using Abaqus.The effects of structural parameters such as chamber end radius,chamber wall thickness,the angle between chamber ends,groove depth,and bottom thickness on the bending angle were analyzed.The soft actuator was manufactured and an experimental platform was built.The bending performance of the actuator was tested.The input air pressure was 0-65 kPa,and the bending angle was 0-218°.The simulation results were basically consistent with the experimental results.A flexible gripper with adjustable claw length was designed based on a bending driver,and its clamping effect on objects of different sizes,shapes,and masses was tested.The experimental results verified the practicality of the designed driver and gripper,and the driver had good bending performance.The research results can provide reference for further research on software drivers.