Bending deformation characteristics of high-pressure soft actuator driven by water-hydraulics for underwater manipulator
Bending deformation characteristics of high-pressure soft actuator driven by water-hydraulics for underwater manipulator
复制标题
水下机械臂水压驱动高压软执行机构弯曲变形特性
DOI：
10.1016/j.sna.2022.113736
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发表时间：
2022-07
影响因子：
4.6
通讯作者：
Ziwei Wu
中科院分区：
文献类型：
--
作者：
Songlin Nie;Linfeng Huo;Hui Ji;Yu Lan;Ziwei Wu
在海洋研究领域，与传统的刚性机械臂相比，软作动器具有更好的柔性抓取效果和对目标物体的适应性。本文提出了一种基于水液压技术的柔性执行器。在单轴试验的基础上，确定了Yeoh三阶模型的材料参数，建立了水液软作动器（WHSA）输入压力和变形的数学模型。通过正交试验，确定了矩形室WHSA的最佳结构参数。以热塑性聚氨酯（TPU）为材料，模拟了不同压力条件下WHSA的弯曲变形。实验测量了不同压力下的变形，验证了仿真结果与理论结果的一致性和设计的合理性。同时进行了WHSA的保压实验和抓取实验，验证了WHSA在水下机械臂中的重要应用价值和应用潜力，与传统的刚性机械臂相比，WHSA具有更好的灵活性和适应性。•利用Yeoh模型建立了软作动器的变形预测模型。•采用FDM技术制备了以TPU-95A为材料的软水液压执行器。•采用正交试验获得最大变形时的致动器结构参数。•实验表明，WHSA的最大压力为3 MPa，夹持重量为2 kg。•实验证明，WHSA的最小连续工作时间为8 h。
In the field of marine research, the soft actuator has a better flexible grasping effect and adaptability to the target object compared with the traditional rigid manipulator. In this paper, a soft actuator based on water-hydraulic technology is proposed. The material parameters of the Yeoh 3rd-order model is determined based on uniaxial testing, and a mathematical model of the input pressure and deformation of the water-hydraulic soft actuator (WHSA) is established. The optimal structural parameters of the rectangular chamber WHSA are selected by orthogonal test. The bending deformation of WHSA under different pressure conditions is simulated with thermoplastic polyurethane (TPU) as the material. The deformation of WHSA under different pressure is measured experimentally to verify the consistency of the simulation and theoretical results and the rationality of the design. Meanwhile, the pressure-holding experiment and grasping experiment of WHSA are conducted, which confirmed the important application value and application potential of WHSA in the underwater manipulator with better flexibility and adaptability in comparison with traditional rigid manipulators. • Deformation prediction model for soft actuator is developed with Yeoh model. • A soft water hydraulic actuator made of TPU-95A was fabricated by FDM. • Structural parameters of actuator with maximum deformation using orthogonal test. • Tests show that WHSA has a maximum pressure of 3 MPa and a gripping weight of 2 kg. • Experimentally proven that the minimum continuous working time of WHSA is 8 h.
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影响因子：
9.1
作者：
Zhenhua Wu;Qi Wang;Jianyu Huang;Yamei Yue;Dezhi Chen;Yusheng Shi;Bin Su
通讯作者：
Zhenhua Wu;Qi Wang;Jianyu Huang;Yamei Yue;Dezhi Chen;Yusheng Shi;Bin Su
影响因子：
5.2
作者：
Woongbae Kim;Bada Seo;S. Yu;Kyu-Jin Cho
通讯作者：
Woongbae Kim;Bada Seo;S. Yu;Kyu-Jin Cho
影响因子：
6.4
作者：
Ribas, David;Palomeras, Narcis;Mallios, Angelos
通讯作者：
Mallios, Angelos
影响因子：
2.3
作者：
Kabir, Shahbaj;Kim, Hyelim;Lee, Sunhee
通讯作者：
Lee, Sunhee
影响因子：
19
作者：
Mosadegh, Bobak;Polygerinos, Panagiotis;Whitesides, George M.
通讯作者：
Whitesides, George M.