高技术通讯2026，Vol.36Issue(7)：751-758,8.DOI:10.3772/j.issn.1002-0470.2026.07.009
一种多腔室气动软体驱动器的设计与建模研究
Design and modeling of a multi-chamber pneumatic soft actuator
摘要
Abstract
Aiming at the current problems of soft actuators with single degree of freedom and insufficient research on mathematical modeling,a multi-chamber pneumatic soft actuator with variable stiffness is proposed.The actuator is inspired by the biological structure of octopus's arms.It is equipped with one stiffness adjusting chamber and three bend driving chamber.It is embedded with restraint springs and driven by coupling of multi-chamber air pressure,which can achieve bending motion in any direction.Based on the deformed geometric configuration analysis of the actuator and the equivalent spring model,the static model and kinematic model of the soft actuator are established,and the mapping relationship between the input air pressure and the bending geometric parameters is given.An ex-perimental system is built to conduct static model verification experiments and static controlled bending experi-ments.The results show that within the air pressure range of 0.200 MPa,the experimental data are basically con-sistent with the theoretical values,verifying the correctness of the theoretical model.关键词
软体驱动器/仿生结构/可变刚度/运动学模型Key words
soft actuator/biomimetic structure/variable stiffness/kinematic model引用本文复制引用
李泽桐,郑义骁,许宗贵,蔡世波,鲍官军..一种多腔室气动软体驱动器的设计与建模研究[J].高技术通讯,2026,36(7):751-758,8.基金项目
国家自然科学基金(U2013212)和浙江省自然科学基金重点项目(LZ23E050005)资助. （U2013212）
