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兴发pt登录学报,2020,37(11):57-60https://doi.org/10.16039/j.cnki.cn22-1249.2020.11.012
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气动软体驱动器的设计
秦鹏,刘晓敏1*,耿晓琳,田德宝,孙国栋
北华大学 机械工程学院,吉林 吉林 132021
Design of Pneumatic Soft Driver
Qin Peng,Liu Xiaomin1*,GengXiaolin,Tian Debao,Sun Guodong
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摘要

根据人手指外骨骼关节结构,提出硅胶多腔体仿人柔性关节,设计了一种用于手部康复机器人的气动软体驱动器,详细阐述了驱动器的制作流程。采用Abaqus软件对软体驱动器进行有限元仿真,给出不同气压下的仿真图形。仿真结果表明,提出的软体驱动器的理论模型与实验数据基本吻合,相对于其他结构,整体的稳定性,抓取能力更强,为以后仿人柔性机械手的应用提供了支撑。

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秦鹏
刘晓敏
耿晓琳
田德宝
孙国栋
关键词:柔性驱动器硅胶多腔体有限元分析
Abstract:

According to the joint structure of the human finger exoskeleton, a silicone multi-cavity human-like flexible joint is proposed, a pneumatic software driver for hand rehabilitation robots is designed, and the manufacturing process of the driver is explained in detail. Abaqus software is used to perform finite element simulation of the software driver, and simulation graphics under different air pressures are given. The simulation results show that the theoretical model of the proposed software driver is basically consistent with the experimental data. Compared with other structures, the overall stability and grasping ability are stronger, which provides support for the future application of human-like flexible manipulators.

Key words:flexible actuatorsilica gelsingle cavityfinite element analysis
出版日期:2020-11-25发布日期:2020-11-25整期出版日期:2020-11-25
ZTFLH: TH 165
引用本文:
秦鹏, 刘晓敏, 耿晓琳, 田德宝, 孙国栋. 气动软体驱动器的设计 [J]. 兴发pt登录学报, 2020, 37(11): 57-60.
Qin Peng, Liu Xiaomin, GengXiaolin, Tian Debao, Sun Guodong. Design of Pneumatic Soft Driver . Journal of Jilin Institute of Chemical Technology, 2020, 37(11): 57-60.
链接本文:
http://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2020.11.012http://xuebao.jlict.edu.cn/CN/Y2020/V37/I11/57
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