气动软体驱动器的设计

根据人手指外骨骼关节结构，提出硅胶多腔体仿人柔性关节，设计了一种用于手部康复机器人的气动软体驱动器，详细阐述了驱动器的制作流程。采用Abaqus软件对软体驱动器进行有限元仿真，给出不同气压下的仿真图形。仿真结果表明，提出的软体驱动器的理论模型与实验数据基本吻合，相对于其他结构，整体的稳定性，抓取能力更强，为以后仿人柔性机械手的应用提供了支撑。

Design of Pneumatic Soft Driver

According to the joint structure of the human finger exoskeleton, a silicone multi-cavity human-like flexible joint is proposed, a pneumatic software driver for hand rehabilitation robots is designed, and the manufacturing process of the driver is explained in detail. Abaqus software is used to perform finite element simulation of the software driver, and simulation graphics under different air pressures are given. The simulation results show that the theoretical model of the proposed software driver is basically consistent with the experimental data. Compared with other structures, the overall stability and grasping ability are stronger, which provides support for the future application of human-like flexible manipulators.