【摘要】 相对于传统的刚性机器人，由硅胶等柔性材料制造的软体机器人在结构上具有自由度高且能够进行连续形变的特点。目前，多数软体驱动器的气腔形状为等截面形态，而对于变截面软体驱动器的研究却少有涉及。为了解决这一问题，从鳐鱼的运动受到启发，设计了一款气腔截面纵向变换仿鳐式软体驱动器。驱动器限制层设计为不可压缩的薄层，结合应变能密度等理论，提出一种预测驱动器的弯曲变形角度的方法。通过3D打印技术制作模具，浇注模型，制作出仿鳐式软体驱动器。通过理论分析、有限元仿真、实验对比验证其数学模型，绘制仿鳐式软体驱动器在0.02～0.07 MPa气压下的中心线轨迹，分析输入气压与末端输出力的关系，验证了驱动器的理论分析、有限元仿真与实验结果在一定的误差下基本一致。其预测方法表现良好，为进一步研究仿鳐式软体驱动器在空间形变提供理论方法。更多还原

【Abstract】 Soft robots made of flexible materials such as silicone have the characteristics of high degree of freedom in structure and continuous deformation compared with traditional rigid robots. At present, most software drives have studied the shape of their air cavity as equal-sectional forms, while the study of variable sections has rarely been involved. To solve this problem, this study was inspired by the movement of Mantas and designed a longitudinal transformation of the air cavity section of the imitation Manta soft body driver. In order to study its mechanical properties, the designed drive limit layer is attached to an incompressible thin layer, combined with the theory of strain energy density, a method for predicting the bending deformation angle of the drive is proposed. At the same time, the 3D printing technology is used to make molds, pour models, and make software drivers. Through theoretical analysis, finite element simulation and experimental comparison, the mathematical model is verified, and the centerline trajectory of the imitation ray soft body driver under the air pressure of 0.02～0.07 MPa is plotted, and the relationship between the input air pressure and the terminal output force is analyzed. It is verified that the theoretical analysis of the driver, finite element simulation and experimental results are basically consistent under certain errors. The prediction method performed well and provided a theoretical method for further study of the spatial deformation of imitation ray soft body drivers.更多还原