机械科学与技术2025，Vol.44Issue(3)：430-437,8.DOI:10.13433/j.cnki.1003-8728.20230202
气动网格执行器建模与结构优化研究
Study on Modeling and Structure Optimization of Pneu-nets Actuator
摘要
Abstract
Insufficient model accuracy and drive capability are common problems of current pneu-nets actuators.The key of modeling is the strain energy calculation and gravity influence,and the key of drive capability is the structure.In order to improve model accuracy and drive capability,firstly,the strain energy after deformation is characterized by regional distribution through simulation and experimental data.Based on the above-mentioned results,a strain energy partition calculation method is proposed to improve the calculation accuracy of the strain energy in the model.Then a combination of concentrated and distributed masses was used to characterize the gravitational influence and further improve the model accuracy.The reliability of the model is verified by the comparative analysis of experiments,simulations and models.Finally,according to the experimental data,the influence of the number,height and gap of chamber on the bending angle and force was investigated,then the actuator structure to improve the driving capacity was optimized.The data show that the bending angle of the actuator is improved by about 0.5 rad comparing with the original one,and can reach 2.5 rad.The force increased by about 2 N comparing with the original one,and can reach 3 N.关键词
气动网格驱动器/应变能/分区计算方法/执行器结构Key words
pneu-nets actuator/strain energy/partition calculation method/actuator structure分类
机械工程引用本文复制引用
魏琼,刘伟恒,柯鼎,郭川..气动网格执行器建模与结构优化研究[J].机械科学与技术,2025,44(3):430-437,8.基金项目
国家自然科学基金项目(51905159) （51905159）
