Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton
Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton
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DOI：
10.1631/jzus.a000030
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发表时间：
2010-04-01
影响因子：
3.2
通讯作者：
Inou, Norio
中科院分区：
文献类型：
--
作者：
Maruyama, Daisuke;Kimura, Hitoshi;Inou, Norio
本研究的目的是构建具有静压骨架的柔性机械系统。该系统的主要组成部分是两种类型的柔性袋。一种是内压恒定的结构袋。另一种是内部压力受控的致动器袋。为了设计该系统，必须估计结构变形和驱动力。然而，柔性袋的数值分析由于较大的非线性变形而变得困难。本研究利用非线性有限元分析（FEA）软件ABAQUS分析了柔性袋的结构强度和驱动力。描述了应力集中对袋形状的依赖性，并计算了驱动力以包括大变形。根据分析结果，本研究推导出驱动力的经验方程。条件改变分析和实验结果证实了方程的有效性。
The purpose of this study was to build a flexible mechanical system with a hydrostatic skeleton. The main components of this system are two type flexible bags. One is a structural bag with constant inner pressure. The other is an actuator bag with controlled inner pressure. To design the system, it was necessary to estimate both structural deformation and driving force. Numerical analysis of flexible bags, however, is difficult because of large nonlinear deformation. This study analyzed structural strength and driving force of flexible bags with the nonlinear finite element analysis (FEA) software ABAQUS. The stress concentration dependency on the bag shape is described and the driving force is calculated to include the large deformation. From the analytical results, this study derives an empirical equation of driving force. The validity of the equation was confirmed by condition-changed analyses and experimental results.