双作用气动软体驱动器的设计与分析

为模仿环节动物的纵肌与环肌功能,实现驱动器径向运动和轴向运动的拮抗作用,设计了一种双腔体双作用的气动软体驱动器。该软体驱动器由可实现轴向伸长运动的内腔轴向驱动器和可实现径向膨胀变形的外腔径向驱动器组成。为提高性能,软体驱动器外部结构采用了折叠方式,并通过有限元仿真分析了不同折叠参数对性能的影响。经实验测试,在0. 03 MPa的通气压力下,六折叠结构软体驱动器最大轴向伸长率可达到24. 2%,实现了对环节动物纵肌与环肌功能的模仿。

Design and Analysis of Bi-actuated Pneumatic Soft Actuator

To simulate functions of longitudinal and circular muscles in annelid animals and realize antagonistic relation between longitudinal and circular movements, a double actuated pneumatic soft actuator with two inner chambers is designed. The soft actuator consists of an internal cavity axial actuator capable of achieving axial elongation and an external cavity radial actuator capable of achieving radial expansion. To improve performance of the actuator, an outer structure is designed folded. The effect of different folding parameters on performance is analyzed through finite element method. The experiments show that, under the pressure of 0.03 MPa, the maximum axial elongation of the six fold structures soft actuator can reach 24.2%. The imitation of functions of longitudinal and circular muscles in annelid animals is realized.