气动软体自折叠机械臂的驱动和负载性能

提出由气动自折叠机械臂和气动关节构成的全软体空间捕获机器人方案. 基于折纸理论设计气动自折叠机械臂结构初始构型，研究气动自折叠机械臂的驱动特性和负载性能；进行气动机械臂的充气驱动试验，得到气压-伸长量关系曲线；基于非线性有限元法，分析气动机械臂驱动过程的大变形和应力应变分布. 结果表明，充气段和排气段的曲线均呈非线性变化，整个驱动过程的滞回曲线明显，验证了其充气驱动-排气自折叠的驱动特性. 通过负载能力试验和仿真分析，评估气动机械臂的负载能力. 随着设计气压不断变大，拉伸负载能力变小，滞回环变大，而抗压负载能力变大，滞回环变小. 所研究的气动自折叠机械臂为实现全软体空间捕获机器人提供技术支撑.

Driving and load performances of pneumatic soft self-folding manipulators

A space soft capture robot composed of pneumatic self-folding manipulators and pneumatic joints was presented. The initial structural configuration of the pneumatic self-folding manipulators was designed based on the origami theory. The driving mechanism and load performance of the pneumatic self-folding manipulators were investigated. The inflated drive tests of the pneumatic manipulators were conducted and the pressure-elongation curves were obtained. The large deformations and stress/strain distributions of the manipulators were analyzed based on the nonlinear finite element method. Results show that the curves of both the inflated stage and the exhaust stage are nonlinear, and the hysteresis curves are obvious in the whole driving process. Thus, the driving mechanisms of inflated expansion and exhaust self-folding can be verified. The load performances of the pneumatic manipulators were evaluated by load performance test and simulation analysis. As the design pressure increases, the tensile load capacity decreases and the area of hysteresis cycle increases, while the compressive load capacity increases and the area of hysteresis cycle decreases. The pneumatic self-folding manipulators provide technical supports for the realization of space soft capture robots.