【作者】 王华；

【导师】 康荣杰；

【作者基本信息】 天津大学 ， 机械工程， 2017， 硕士

【摘要】 传统意义上的离散型机器人由于自身的刚性连杆结构和关节,虽然精度较高,但是自由度数目有限,与环境相互作用的能力较差,安全性较低。而软体机器人模仿自然界中软体生物结构,如章鱼触手、哺乳动物舌头等“无脊椎”结构,既可以灵活柔顺地改变自身形状,实现弯曲、扭转、伸缩等运动,又可以承受和吸收较大的能量冲击,因而对环境适应性更好,能够在复杂空间以及非结构化环境下工作,如执行地震救援、管道检查、微创手术等任务,近年来受到研究者的广泛关注。然而此类软体机器人驱动器的设计与控制目前仍缺少理论指导。针对这些问题,本文设计了一种由气压驱动的可实现弯曲运动的新型软体驱动器,该软体驱动器结构简单可靠,易微型化,也具有很好的抗疲劳性,在反复弯曲后仍能回复初始状态。同时在系统分析其结构和弯曲原理的基础上,利用几何方法和虚功原理建立了其数学模型,并且通过有限元模型和原理样机实验验证了数学模型的有效性,为软体机器人驱动器的优化设计和控制提供了依据。在软体驱动器研究的基础上,本文将驱动器与由柔性材料制成的曲面结合,设计了一种新型软体机器人曲面,可以同时实现多个方向上的弯曲运动。而且为了预测曲面在不同气压下的弯曲变形,在考虑嵌入驱动器运动和曲面几何特征的基础上利用最小势能原理建立了其准稳态模型。最后通过仿真分析和样机实验验证了该稳态模型的准确性,同时展现了软体机器人曲面良好的弯曲能力。更多还原

【Abstract】 Traditional discrete robots are typically manipulated with high precision due to rigid links and joints,but also with finite degrees of freedom(DOFs)and limited capacity and safety to interact with the environment.In recent years soft robotics inspired by soft biological structure such as the tongue,the octopus tentacle are of significant interests due to their inherently compliance.These soft systems not only can change their shape with flexibility and dexterity to achieve the desired motion(such as bending,twist,elongation),but also can sustain and absorb major energy impact,and thus are suitable for delicate work in complicated and unstructured environment.However,the actuator design and control of soft robots is still lacking of theoretical direction.Aiming at such problems,this thesis designed a novel soft actuator operated pneumatically which can achieve bending motion.The structure of soft actuator has a variety of characteristics: simple,reliable,easy to miniaturization and good in resistance to fatigue which can restore the initial state after repeated bending motion.A mathematical model is presented using the geometrical analysis and principle of virtual work based on the systematic analysis of the structure and bending principle of the soft actuator.The proposed model is then validated through the finite element model and experimental data on the prototype,which provides foundation for optimal design and control of the soft actuator.On the basis of the work on the soft actuators,this thesis also combines soft actuators with the surface constructed by compliant material to design a novel soft robotic surface which can generate bending motion in several directions.In order to predict deformation of the surface under different pressure,a quasi-steady-state model is developed utilizing the principle of minimum potential energy considering the motion characteristic generated by the embedded actuators and the geometry of the soft surface.Then the analytical model is validated by the simulation analysis and experiment on the prototype,and excellent bending performance of the soft robotic surface is presented.更多还原