软体仿蛙游动机器人关节式气动致动器研制
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摘要
为实现仿蛙游动机器人的微小型化,增强其环境适应能力,结合软体材料的优势特点和青蛙划动推进的游动方式,提出了一种关节式气动软体致动器,该致动器在满足软体仿蛙机器人游动过程中的运动性能和力学性能的同时,使得其肢体结构更加紧凑、轻量.利用Yeoh本构模型和虚功原理,结合关节式气动软体致动器的几何参数,建立了致动器的形变分析模型.进而,在致动器总体尺寸受约束的情况下,以一定弯曲角度下致动器输出恢复力矩最大为目标,确定了致动器的具体结构参数.融合3D打印、模塑成型等加工工艺方法,加工制备了关节式气动软体致动器,并通过对比分析,确定了采用纤维线限制致动器径向凸起效应时纤维线的绕线形式和绕线密度.最后经过实验测试分析,该致动器质量约7.5g,可实现由180°弯曲状态至伸直状态的形态变化,并且在弯曲角度一定时通过调整充入气压的大小可以匹配一定范围内不同大小的负载力矩,从而验证了针对软体仿蛙游动机器人设计的关节式气动软体致动器的可行性.
In order to realize the miniaturization of the frog-inspired swimming robot and enhance its environmental adaptability, a joint-like pneumatic soft actuator is proposed by combining the superior characteristics of the soft material and the swimming mode of the frog, which can achieve more compact and lighter limb structure, while satisfying the kinematics and mechanical properties during swimming of the soft frog-inspired robot. Based on the Yeoh constitutive model and the virtual work principle, the deformation analysis model of the actuator is established with the geometric parameters of the joint-like pneumatic soft actuator. Furthermore, the output recovery torque of the actuator is maximized at a certain bending angle in the case that the overall size of the actuator is constrained, and the specific structural parameters of the actuator are determined. The joint-like pneumatic soft actuator is fabricated by 3D printing, molding and other processing methods.Through the comparative analysis, the winding form and winding density of the fiber-line are determined to suppress the radial protrusion effect of the actuator. Finally, the experimental test and analysis show that the actuator with a mass of about 7.5 g can perform a morphological change from the 180° bending state to the straightening state, and can match different load torques within a certain range by adjusting the filling air pressure at a certain bending angle. Thus, the feasibility of the joint-like pneumatic soft actuator designed for the soft frog-inspired swimming robot is verified.
In order to realize the miniaturization of the frog-inspired swimming robot and enhance its environmental adaptability, a joint-like pneumatic soft actuator is proposed by combining the superior characteristics of the soft material and the swimming mode of the frog, which can achieve more compact and lighter limb structure, while satisfying the kinematics and mechanical properties during swimming of the soft frog-inspired robot. Based on the Yeoh constitutive model and the virtual work principle, the deformation analysis model of the actuator is established with the geometric parameters of the joint-like pneumatic soft actuator. Furthermore, the output recovery torque of the actuator is maximized at a certain bending angle in the case that the overall size of the actuator is constrained, and the specific structural parameters of the actuator are determined. The joint-like pneumatic soft actuator is fabricated by 3D printing, molding and other processing methods.Through the comparative analysis, the winding form and winding density of the fiber-line are determined to suppress the radial protrusion effect of the actuator. Finally, the experimental test and analysis show that the actuator with a mass of about 7.5 g can perform a morphological change from the 180° bending state to the straightening state, and can match different load torques within a certain range by adjusting the filling air pressure at a certain bending angle. Thus, the feasibility of the joint-like pneumatic soft actuator designed for the soft frog-inspired swimming robot is verified.
引文
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[2]Laschi C,Mazzolai B,Cianchetti M.Soft robotics:Technologies and systems pushing the boundaries of robot abilities[J].Science Robotics,2016,1(1):DOI:10.1126/scirobotics.aah3690.
[3]Wehner M,Truby R L,Fitzgerald D J,et al.An integrated design and fabrication strategy for entirely soft,autonomous robots[J].Nature,2016,536(7617):451-455.
[4]郑俊君,宋小波,姜祖辉,等.一种气动静压软体机器人的驱动力产生机理及控制策略[J].机器人,2014,36(5):513-518.Zheng J J,Song X B,Jiang Z H,et al.The driving force mechanism and control strategy of a pneumatic hydrostatic soft robot[J].Robot,2014,36(5):513-518.
[5]Marchese A D,Onal C D,Rus D.Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators[J].Soft Robotics,2014,1(1):75-87.
[6]Polygerinos P,Lyne S,Wang Z,et al.Towards a soft pneumatic glove for hand rehabilitation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2013:1512-1517.
[7]Polygerinos P,Wang Z,Overvelde J T B,et al.Modeling of soft fiber-reinforced bending actuators[J].IEEE Transactions on Robotics,2015,31(3):778-789.
[8]Zhou X B,Teng Y,Li X N.Development of a new pneumaticdriven earthworm-like soft robot[C]//23rd International Conference on Mechatronics and Machine Vision in Practice.Piscataway,USA:IEEE,2016:50-54.
[9]Hao Y F,Gong Z Y,Xie Z X,et al.Universal soft pneumatic robotic gripper with variable effective length[C]//3 5th Chinese Control Conference.Piscataway,USA:IEEE,2016:6109-6114.
[10]Guo H X,Zhang J H,Wang T,et al.Design and control of an inchworm-inspired soft robot with omega-arching locomotion[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2017:4154-4159.
[11]孔彭城.气动肌肉驱动仿青蛙游动机器人设计及其关键技术研究[D].哈尔滨:哈尔滨工业大学,2016.Kong P C.Research on design and key technologies of froginspired swimming robot actuated by pneumatic muscles[D].Harbin:Harbin Institute of Technology,2016.
[12]范志海.基于青蛙骨骼结构模型的跳跃机器人研究[D].哈尔滨:哈尔滨工业大学,2016.Fan Z H.Research on jumping robot based on skeletal structure of the frog[D].Harbin:Harbin Institute of Technology,2016.
[13]王永冠,李心,黄友剑,等.橡胶计算中本构模型的选择[C]//“时代新材杯”第4届全国橡胶制品技术研讨会.株洲:中国化工学会,2007:443-449.Wang Y G,Li X,Huang Y J,et al.The Choice of Constitutive Model in Rubber Calculation[C]//“Times New Materials Cup”,the 4th National Rubber Products Technology Symposium.Zhuzhou:China Chemical Society,2007:443-449.
[14]Yeoh O H.Some forms of the strain energy function for rubber[J].Rubber Chemistry and Technology,1993,66(5):754-771.
[15]李晓芳,杨晓翔.橡胶材料的超弹性本构模型[J].弹性体,2005,15(1):50-58.Li X F,Yang X X.A review of elastic constitutive model for rubber materials[J].China Elastomerics,2005,15(1):50-58.
[16]王华,康荣杰,王兴坚,等.软体弯曲驱动器设计与建模[J].北京航空航天大学学报,2017,43(5):1053-1060.Wang H,Kang R J,Wang X J,et al.Design and modeling of a soft bending actuator[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(5):1053-1060.
[17]黄建龙,解广娟,刘正伟.基于Mooney-Rivlin模型和Yeoh模型的超弹性橡胶材料有限元分析[J].橡胶工业,2008,50(8):467-471.Huang J L,Xie G J,Liu Z W.FEA of hyperelastic rubber material based on Mooney-Rivlin model and Yeoh model[J].China Rubber Industry,2008,50(8):467-471.