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Modeling method for fold-type soft actuator device

A technology of actuators and software, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as increasing the difficulty of analyzing mechanical properties

Pending Publication Date: 2021-04-16
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the single-cavity soft actuator, the complex geometric structure of the folded soft actuator improves the deformation ability of the actuator, but also increases the difficulty of analyzing its mechanical characteristics.

Method used

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  • Modeling method for fold-type soft actuator device
  • Modeling method for fold-type soft actuator device
  • Modeling method for fold-type soft actuator device

Examples

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Embodiment Construction

[0034] Such as figure 1 As shown, the folded pneumatic soft actuator device provided in this embodiment includes 11 base plate, 12 finger holder, 13 movable suction cup, 14 soft finger, 15 air tube, 16 fixed station, 17 suction cup holder. Each finger is connected with an air pump, and the air pressure input is controlled by a computer controlling the input of the air pump. The four fingers and the movable suction cup in the middle cooperate to complete the grabbing and adsorption functions. The example of the present invention only performs mathematical modeling analysis on one of the fingers.

[0035] Such as figure 2 As shown, although the air cavity of the soft finger is designed as a discrete structure, in actual driving, the gap between the air cavities will not have a great impact on the bending shape of the soft finger, and the finger can still be regarded as a normal Curvature arc bending deformation, according to the geometric principle, the bending angle α of th...

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Abstract

The invention discloses a mechanical modeling method for a fold-type soft actuator (especially a fold-type soft finger). The method comprises the following steps: a model 1 is a relationship between input pressure and a finger bending angle; and a model 2 is the relationship between the input pressure and the output force at the front end of a finger at a given bending angle. The fold-type soft actuator is similar to a section diagram structure shown in the figure 1 and is provided with a discrete air cavity structure. The fold-type soft actuator comprises an upper finger layer (1), a lower finger layer (2) and a connector (3). The research method disclosed by the invention is used for researching the relationship between the input pressure and the bending angle of the soft actuator for aiming at the soft actuator device and the relationship between the input pressure and the output force at the tail end, the modeling is conducted, and the relationship between the input pressure and the output force at the tail end is progressive. For the model 1, a Neo-Hookean hyperelastic model is adopted to describe the response characteristics of a silica gel elastomer, the relation between driving gas pressure P and bending angle alpha obtained through a mathematical method is shown in the specification, and the relation among the input pressure, the bending angle and the output force is shown in the specification.

Description

technical field [0001] The invention relates to a wrinkle-type soft actuator device, in particular to a mechanical modeling method for a wrinkle-type soft actuator applied to a pneumatic soft gripper. Background technique [0002] As a derivative of the rigid manipulator, the soft hand pursues the mechanical characteristics of the organism, such as the flexibility, safety and environmental adaptability of the body. Compared with other types of soft hands, soft hands based on pneumatic soft actuators have more application value. Pneumatic soft hand actuators generally adopt the following structural forms: pleated, cylindrical, fiber-reinforced, etc. Among them, the application of wrinkled soft actuators in soft hands has attracted the most attention. The wrinkled actuators have a small driving pressure and can be reversely bent under negative pressure, which can effectively improve the grasping range of soft hands. [0003] However, the lack of mechanical models for soft ac...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J15/12
Inventor 钟国梁窦炜强彭博文
Owner CENT SOUTH UNIV
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