Mathematical modeling method for soft bidirectional bending pneumatic actuator in bending state

Abstract

The invention discloses a mathematical modeling method for a soft bidirectional bending pneumatic actuator in a bending statedigital-analog construction method for a soft bidirectional bending pneumatic actuator in a bending state, and the method comprises the steps: dividing the soft bidirectional bending pneumatic actuator into two parts: one part is an expansion side, and the other part is an unexpanded side. Firstly, mechanical analysis is conducted on the expansion side, tensile deformation and bending deformation of the expansion side are calculated, then mechanical analysis is conducted on the non-expansion side, compression deformation and shear deformation of the non-expansion side are calculated, and finally the relation between input pressure and the actuator bending angle is established through overall bending moment conservation. The invention provides a novel mathematical modeling establishment method suitable for the soft bidirectional bending pneumatic actuator in the bending state, the relational expression between the driving pressure and the bending angle of the bidirectional bending pneumatic actuator is accurately obtained, the blank of research in the field is filled, and a certain theoretical basis is provided for accurate control of the bidirectional bending pneumatic actuator.

Description

technical field [0001] The invention relates to a soft two-way bending pneumatic actuator, and more specifically, to a mathematical modeling method for a soft two-way bending pneumatic actuator in a bending state. Background technique [0002] Soft body bidirectional bending pneumatic actuators are made of superelastic materials, such as silicone rubber. The soft symmetrical cavity pneumatic actuator is composed of two silicone modules, which have multiple symmetrically distributed cavities separated by ribs, and the two silicone modules are bonded by ABS plates located in the neutral layer. All cavities are connected by a flow channel to obtain the same pressure. Changing the pressure of the incoming gas causes the volume of the cavity to change, and the soft bidirectional bending pneumatic actuator can realize its own stretching or bending. However, soft pneumatic actuators have the characteristics of large deformation and many degrees of freedom, so it is difficult to m...

AI Technical Summary

Problems solved by technology

However, soft pneumatic actuators have the characteristics of large deformation and many degrees of freedom, so it is difficult to model them

At present, the mathematical model used by scholars at home and abroad for the soft two-way bending pneumatic actuator has great limitations, and the accuracy is not enough, which will affect the control effect of the actuator in the later stage.

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