Research On Multi Chambers Flexible Actuator

Pneumatic flexible drive actuator because of its convenient source,easy to handle and other advantages,is becoming a flexible actuator research in a hot spot.This paper is concerned about research on multi chambers flexible actuator for the further research on pneumatic soft robot.The actuator is arranged in the form of three chambers in the interior of the rubber tube,and the change of the position and attitude of the actuator is realized by the difference of the chambers expansion caused by the difference of pressure in the chamber.In this paper,the static characteristics such as bending characteristics and carrying capacity of actuators are analyzed and discussed.The rapid simulation model of the actuator state parameter is established,and the actuator prototype is made from the silicone rubber material,and the demonstration experiment is carried out.Based on the analysis of the characteristics of the actuator,it is found that the radial expansion of the actuator has a great influence on the bending performance of the actuator,and the performance difference of the three radial restraints is discussed.When the radial loop constraint of the appropriate spacing of the actuator is beneficial to its bending performance,the actuator is prevented from reaching the stress extremum point prematurely.In contrast,radial mesh constrained actuator bending performance is poor,but its excellent carrying capacity.The relationship between the stiffness matrix of the actuator unit and its state parameters is obtained,based on the assumption that the actuator element deformation conforms to the law of elastic deformation,and a fast simulation model of the actuator state parameter is established.Using the method of system identification,the stiffness matrix of the actuator unit under each pressure is identified by finite element simulation.The simulation model is analyzed and discussed.The kinematic model of the cavity actuator is established by using the idea of piecewise constant curvature,which provides the theoretical basis for the later control and trajectory planning.In order to understand the effect of radial expansion on the bending performance of the actuator,three different constraints of the form of the actuator is produced.Through the experiment to draw conclusions.