并联波纹管结构气动柔性执行器研究

发布时间：2019-02-17 08:39

【摘要】：气动柔性执行器利用清洁气源可在空间中完成指定动作,运动灵活、环境适应性强,发展前景广阔。本文研究的气动柔性执行器由三个并联的波纹管、中间环及上下连接板组成,整体执行器均由3D打印制造。通入一定压力的气体后,并联波纹管结构的气动柔性执行器会产生相应变形。本文对波纹管及执行器的有限元仿真方法、静力学模型及优化设计等内容进行研究,并对理论分析结果进行实验验证。通过单轴拉伸实验对3D打印柔性材料试件进行力学特性的测量,得到不同打印条件下材料的应力应变曲线、弹性模量及泊松比。通过对比不同设置条件下3D打印柔性材料的仿真结果,得到最佳的有限元仿真方法。利用最小二乘法对波纹管基本单元进行刚度辨识。为了便于计算,将刚度矩阵线性化处理。利用辨识的柔度矩阵计算不同外力下波纹管基本单元的变形量,并与有限元仿真结果进行对比。利用辨识方法计算不同气压力下波纹管基本单元的刚度矩阵。对执行器单层结构进行静力学建模,得到不同外力下执行器的变形量,并与仿真结果进行对比,修正刚度矩阵。利用静力学模型计算得到执行器的载荷特性。提出执行器结构的优化方法。以波纹管刚度矩阵中的特征刚度和执行器的工作空间体积、最大半径及最大高度为优化目标,对波纹管基本单元小径及单节长度进行优化,得到最大优化目标时的结构参数。对整体执行器进行打印和组装。通过波纹管和执行器的受力变形实验,分别验证了波纹管的有限元分析方法和执行器的静力学建模计算方法。
[Abstract]:The pneumatic flexible actuator can accomplish the specified action in space by using clean gas source, which has the advantages of flexible motion, strong adaptability to the environment and broad prospect of development. The pneumatic flexible actuator studied in this paper consists of three parallel corrugated tubes, the middle ring and the upper and lower connecting plates. The whole actuator is manufactured by 3D printing. The pneumatic flexible actuator of parallel bellows will produce corresponding deformation after a certain pressure gas. In this paper, the finite element simulation method of bellows and actuators, statics model and optimization design are studied, and the theoretical analysis results are verified by experiments. The mechanical properties of 3D printed flexible materials were measured by uniaxial tensile test, and the stress-strain curves, elastic modulus and Poisson's ratio were obtained under different printing conditions. By comparing the simulation results of 3D printing flexible materials with different settings, the best finite element simulation method is obtained. The least square method is used to identify the stiffness of the basic elements of bellows. For the convenience of calculation, the stiffness matrix is linearized. The deformation of the basic element of bellows under different external forces is calculated by using the identified flexibility matrix, and the results are compared with the results of finite element simulation. The stiffness matrix of the basic elements of the bellows under different gas pressures is calculated by using the identification method. The static modeling of the actuator single-layer structure is carried out, and the deformation of the actuator under different external forces is obtained. The stiffness matrix is modified by comparing the simulation results with the simulation results. The load characteristics of actuator are calculated by statics model. The optimization method of actuator structure is proposed. Taking the characteristic stiffness in the corrugated tube stiffness matrix and the workspace volume, maximum radius and maximum height of the actuator as the optimization objectives, the diameter and length of the basic unit of the corrugated tube are optimized, and the structural parameters of the maximum optimization objective are obtained. Print and assemble the whole actuator. The finite element analysis method of the bellows and the static modeling method of the actuator are verified by the experiments of the bellows and actuators.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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