一种新型柔顺驱动器的设计与应用研究

传统的线性驱动器例如滚珠丝杠和音圈电机具有运动精度高、响应快和刚度好等优点,但是面对形状复杂、易碎的物体,使用刚体结构的传统驱动一般需配传感器实时监测接触力和位置信息,这增大设备成本和误操作率:因此针对该问题,基于仿生学生物肌腱原理,提出了一种基于气体驱动的软体驱动器,通过控制输入气压实现该驱动器输出直线位移。基于Neo-Hookean模型和虚功原理推导出了驱动器气压与位移关系的解析解,利用Abaqus有限元软件进行数值解验证,当气压在区间(0~45)kPa内,计算平均误差在2.59%以内:通过多目标优化方法,对物理参数进行遍历,最终筛选得到驱动器尺寸的优解区间进一步地,为了优化软体线性驱动器性能和工作寿命,气腔部分改进为波纹管结构最后设计并制作试验样机,通过样机与机器人协作的案例验证了其功能。

Design and Application of A Novel Compliant Actuator

Conventional linear actuators such as linear screws and voice coil motors have the advantages of high motion accuracy,fast response and good stiffness.However,as to complex and fragile objects,conventional robots with rigid structures generally require sensors to monitor contact force and position information,which increases equipment cost and misoperation rate.Therefore,based on the principle of bionic principle,this paper proposes a pneumatic-driven driver to realize the linear displacement output by controlling the air pressure.Based on the Neo-Hookean model and the virtual work principle,the analytical solution of the relationship between the pressure and displacement of the actuator is derived.The Abaqus finite element software is used to verify the numerical solution.When the pressure is within the range of 0~45 kPa,the average error is calculated to be less than 2.59%.Through the multi-objective optimization method,the physical parameters are traversed,and finally the optimal solution interval of the driver size is obtained.Further,to optimize soft linear drive performance and operating life,the air cavity portion is modified to a bellows structure.Finally,the test prototype was designed and produced,and its function was verified by the case of the robot collaborating with the prototype.