Research On Pneumatic Flexible Actuator With Parallel Bellow Structure

With clean air pneumatic flexible actuators can complete the specified action in space,they can move flexibly and have good environmental adaptability and broad prospects for development.The pneumatic flexible actuator studied in this paper consists of three parallel bellows,an intermediate ring and an upper and lower connecting plates,and the whole actuator is made of 3D printing material.When a certain pressure of gas is passed,the flexible pneumatic actuator with parallel bellow structure will generate corresponding deformation.In this paper,the finite element simulation method,statics model and optimization of bellows and actuator were studied,and the theoretical analysis results were verified by experiments.The mechanical properties of 3D printing flexible material were measured by uniaxial tensile test,and the stress-strain curves,elastic modulus and Poisson's ratio of the material under different printing conditions were obtained.By comparing the simulation results of 3D printing flexible materials under different settings,the best finite element simulation method was obtained.The stiffness of the bellows basic element was calculated by the least square method.In order to facilitate calculation,the stiffness matrix was linearized.The deformation of the bellows basic element under different external forces was calculated using the identified flexibility matrix,and the results were compared with the finite element simulation results.Using identification method to calculate stiffness matrix of bellows element under different pressures.The single layer structure of actuator was modeled by statics,and the deformation of actuator under different external forces was obtained.The stiffness matrix was corrected with the simulation results.The load characteristics of the actuator were calculated with the static model.An optimization method for the actuator structure was proposed.The characteristics of bellows stiffness matrix and work space volume,maximum radius and the maximum height of the actuator were as the optimization goals,basic element path and length can be optimized targets,and optimized structure parameters were obtained.Print and assemble the whole actuator.Through the force and deformation experiment of bellows and actuator,the finite element analysis method of the bello ws and the static modeling and calculation method of the actuator were verified respectively.