软体弯曲驱动器设计与建模
发布时间：2018-08-30 11:33
【摘要】：与传统的"刚性"机器人相比,基于仿生学启发的软体机器人由于其与生俱来的柔顺性和安全性受到广泛关注。然而,此类软体机器人驱动器的设计与控制目前仍缺少理论指导。针对这些问题,设计了一种由气压驱动的可实现弯曲运动的新型软体驱动器,在系统分析其结构和弯曲原理的基础上,利用几何方法和虚功原理建立了其数学模型,并且通过有限元模型和原理样机实验验证了数学模型的有效性,为软体机器人驱动器的优化设计和控制提供了依据。
[Abstract]:Compared with the traditional "rigid" robot, the software robot based on bionics has attracted much attention because of its inherent flexibility and safety. However, the design and control of this kind of software robot driver is still lack of theoretical guidance. In order to solve these problems, a new software driver driven by air pressure is designed to realize bending motion. Based on the systematic analysis of its structure and bending principle, the mathematical model is established by means of geometric method and virtual work principle. The validity of the mathematical model is verified by the finite element model and the prototype experiment, which provides the basis for the optimal design and control of the software robot driver.
【作者单位】： 天津大学机构理论与装备设计教育部重点实验室;北京航空航天大学自动化科学与电气工程学院;伦敦大学国王学院机器人研究中心;
【基金】：国家自然科学基金(51375329) 天津市应用基础与前沿技术研究计划(14JCYBJC19300) 高等学校博士学科点专项科研基金(20130032120036)~~
【分类号】：TP242
本文编号：2212938
[Abstract]:Compared with the traditional "rigid" robot, the software robot based on bionics has attracted much attention because of its inherent flexibility and safety. However, the design and control of this kind of software robot driver is still lack of theoretical guidance. In order to solve these problems, a new software driver driven by air pressure is designed to realize bending motion. Based on the systematic analysis of its structure and bending principle, the mathematical model is established by means of geometric method and virtual work principle. The validity of the mathematical model is verified by the finite element model and the prototype experiment, which provides the basis for the optimal design and control of the software robot driver.
【作者单位】： 天津大学机构理论与装备设计教育部重点实验室;北京航空航天大学自动化科学与电气工程学院;伦敦大学国王学院机器人研究中心;
【基金】：国家自然科学基金(51375329) 天津市应用基础与前沿技术研究计划(14JCYBJC19300) 高等学校博士学科点专项科研基金(20130032120036)~~
【分类号】：TP242
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，本文编号：2212938
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