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Updated: Jul 23, 2025

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可调节折叠组装软气动执行器的组装策略

Kaihang Zhang^1,2,3, Yaowei Fan^1,2,3, Shiming Shen^2,3

¹Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, China.

|July 12, 2023

概括

我们开发了一种使用折叠组装策略创建可调节软气动执行器 (SPA) 的新方法. 这些FASPA (可折叠组装软气动执行器) 为软机器人应用提供了多功能配置.

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背景情况:

软气动执行器 (SPA) 对于微妙的任务是必不可少的,因为它们的合规性.
现有的特别保护区面临着制造复杂性和捕能力方面的挑战.

研究的目的:

为设计和制造软气动执行器 (FASPA) 引入一种新的可调节折叠组装策略.
展示FASPA在实现多种配置方面的多功能性,以及它们在软抓手中的应用.

主要方法:

用一个简单的折叠的管被带约束制造FASPA.
设计局部刚性和折叠模式以实现四种不同的配置:纯曲,不连续曲率曲,螺旋和不连续曲率螺旋.
开发分析模型来预测执行器变形和尖端轨迹,通过实验测试验证.

主要成果:

成功制造具有可调节配置的FASPA.
分析模型准确预测了执行器的行为.
硬度,负载能力,输出力,步骤响应和疲劳寿命的表征.
组装多指的软抓柄,能够抓住各种物体.

结论:

关键词:

不连续的曲率变形.一个折叠的管道.气动执行器的气动执行器软机器人组装组件软机器人组件

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折叠组装策略提供了一种简单而有效的方法,用于创建可调节的软气动执行器.
FASPA为开发复杂软机器人提供了一个有前途的平台,用于各种应用,包括对象操纵.
这种方法简化了制造,提高了软机器人系统的适应性.