气动网络结构软机械臂的设计与运动分析

IF 3.7 3区 材料科学 Q1 INSTRUMENTS & INSTRUMENTATION Smart Materials and Structures Pub Date : 2024-08-29 DOI:10.1088/1361-665x/ad7002
Yinlong Zhu, Tian Wang, Weizhuang Gong, Kai Feng, Xu Wang, Shuang Xi
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引用次数: 0

摘要

软机械臂具有出色的柔韧性和无限的自由度,有别于传统的刚性机器人,因此近年来受到广泛关注。本文主要介绍了一种新型模块化软机械臂的设计、制造和运动学分析,该机械臂具有多个分段,每个分段都有三个自由度。与大多数研究不同的是,本文采用了软气密网结构而非纤维增强结构,从而避免了由于膜对纤维增强体加压而产生的巨大局部应变。我们采用有限元法和正交实验确定了最佳结构参数。此外,我们还在恒定曲率假设的基础上,通过对 Denavit-Hartenberg 公约进行参数化,提出了软臂的运动学模型。最后,我们对软机械臂进行了实验评估,包括弯曲角度、伸长率、挠度和柔韧性测试。实验数据,尤其是单模块和双模块软机械臂的弯曲角度和空间位置与有限元法模拟结果吻合。此外,我们还对双模块软机械手进行了抓取和避障抓取测试。结果表明,软机械臂性能优越,具有广泛的应用潜力。
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Design and motion analysis of soft robotic arm with pneumatic-network structure
Soft robotic arms have been widely explored in recent years because of their excellent flexibility and infinite degrees of freedom which distinguishes them form traditional rigid robots. This paper focuses on the design, fabrication and kinematic analysis of a new modular soft robotic arm featuring multiple segments, each one with three degrees of freedom. In contrast to most research, this paper utilizes soft pneu-net structure instead of fiber-reinforced structure, thereby preventing large local strains due to membrane pressurized against a fiber reinforcement. We employed finite element method and orthogonal experiment were to ascertain the optimal structural parameters. Furthermore, we present the kinematic model of the soft arm by the parameterization of the Denavit–Hartenberg convention under the basis of constant curvature assumption. Finally, the experimental evaluation of the soft robotic arm including bending angle, elongation, deflection and flexibility test were carried out. The experimental data, particularly concerning the bending angle and spatial position of both single modular and two-modular soft arm agree well with the finite element method simulation. Additionally, we performed both grasping and obstacle-avoidance grasping tests for dual modular soft robotic. The results demonstrate that the soft robotic arm exhibits superior performance and highlights its potential for various applications.
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来源期刊
Smart Materials and Structures
Smart Materials and Structures 工程技术-材料科学:综合
CiteScore
7.50
自引率
12.20%
发文量
317
审稿时长
3 months
期刊介绍: Smart Materials and Structures (SMS) is a multi-disciplinary engineering journal that explores the creation and utilization of novel forms of transduction. It is a leading journal in the area of smart materials and structures, publishing the most important results from different regions of the world, largely from Asia, Europe and North America. The results may be as disparate as the development of new materials and active composite systems, derived using theoretical predictions to complex structural systems, which generate new capabilities by incorporating enabling new smart material transducers. The theoretical predictions are usually accompanied with experimental verification, characterizing the performance of new structures and devices. These systems are examined from the nanoscale to the macroscopic. SMS has a Board of Associate Editors who are specialists in a multitude of areas, ensuring that reviews are fast, fair and performed by experts in all sub-disciplines of smart materials, systems and structures. A smart material is defined as any material that is capable of being controlled such that its response and properties change under a stimulus. A smart structure or system is capable of reacting to stimuli or the environment in a prescribed manner. SMS is committed to understanding, expanding and dissemination of knowledge in this subject matter.
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