A Mathematical Modeling Method of Soft Body Bidirectional Bending Pneumatic Actuator in Bending State

A pneumatic actuator and bending state technology, which is applied in the field of mathematical modeling of soft bidirectional bending pneumatic actuators, and can solve the problems of many degrees of freedom, insufficient accuracy, and large deformation of soft pneumatic actuators.

Active Publication Date: 2020-11-10
中世微科技(嘉兴)有限公司
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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.

Method used

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  • A Mathematical Modeling Method of Soft Body Bidirectional Bending Pneumatic Actuator in Bending State
  • A Mathematical Modeling Method of Soft Body Bidirectional Bending Pneumatic Actuator in Bending State
  • A Mathematical Modeling Method of Soft Body Bidirectional Bending Pneumatic Actuator in Bending State

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Embodiment Construction

[0090] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0091] combine figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 , to illustrate the mathematical modeling method of the soft bidirectional bending pneumatic actuator in the bending state provided in this example.

[0092] Such as figure 1 As shown, the soft bidirectional bending pneumatic actuator includes: upper wall, side wall, neutral layer, rib, cavity and groove.

[0093] Such as figure 2 As shown, the method will be as figure 1 The soft two-way bending pneumatic actuator shown is divided into two parts, one part is the inflated side, that is, the inflated side, and the other part is the unexpanded side, that is, the non-inflated side. Such as image 3 As shown, firstly, the mechanical analysis is carried out on the expansion side, and the tensile deformation and bendi...

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Abstract

The invention discloses a digital model construction method of a soft two-way bending pneumatic actuator in a bending state. The method divides the soft two-way bending pneumatic actuator into two parts, one part is an inflated side, and the other part is an unexpanded side. Firstly, mechanical analysis is carried out on the expansion side respectively, and its tensile deformation and bending deformation are calculated. Then, mechanical analysis is carried out on the unexpanded side, and its compression deformation and shear deformation are calculated. Finally, the input pressure and actuator are established through the overall bending moment conservation. The relationship between bending angles. The invention provides a new mathematical model establishment method suitable for the bending state of the soft bidirectional bending pneumatic actuator, and accurately obtains the relationship between the driving pressure and the bending angle of the bidirectional bending pneumatic actuator, which fills the gap in research in this field It provides a certain theoretical basis for its precise control.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/17G06F111/10G06F119/14
CPCG06F30/17G06F2111/10G06F2119/06G06F30/20
Inventor 王朝晖胡家栋周文
Owner 中世微科技(嘉兴)有限公司
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