Design And Simulation Of Pneumatic Actuator And Application

The research of traditional robots mainly focuses on the rigid structure,and has been widely accumulated and applied in many fields such as industry,medicine and specialty.However,its structure is complex,its flexibility is limited and its security and adaptability are poor.In some special applications,such as complex and fragile object grasping,human-computer interaction and narrow space operation have great challenges.Compared with the traditional rigid robot,the soft robot body is made of soft material or flexible material,which can be continuously deformed,and has infinite freedom in principle.Its own good safety and suppleness make up for the shortage of rigid robots.The software actuator is the driving module of the software robot system and provides the driving function for the whole robot system.It is the key module of the robot structure.However,due to the characteristics of software materials,software actuators have great diversity in the aspects of structural design and driving mode selection.Coupled with the difficulty of mathematical modeling due to the material properties,the current research on software actuators Of the results less,can reach the application performance requirements of the software actuator in the design and production have greater difficulties.In this paper,the achievements of software robotics both at home and abroad are researched.Based on the practical application,the bending and linear pneumatic software actuators that can meet the application requirements are designed,and the application of actuator in rigid body parallel robot is analyzed.The main research contents include:(1)Soft pneumatic actuator overall design.Analysis and study of software actuator design ideas and basic performance requirements of the software actuator can be used to drive the way to choose the material to complete the bending and linear soft pneumatic actuator structure design to determine the soft pneumatic actuator structure size and design performance Requirements,the use of software performance parameters into the analysis.(2)actuator modeling and simulation analysis.Finite element analysis methods of nonlinear problems are studied.Abaqus is used to complete the finite element modeling and simulation of aerodynamic actuators.The deformation and mechanical properties of the bending and linear actuators are simulated and analyzed.The parameters are studied and the optimization direction of actuator structure is proposed.(3)actuator in-kind production and experiment.The actual production method of the software actuator is studied,the physical production of the soft pneumatic actuator is completed,and the pneumatic control and force measurement platform which can be used for the performance data acquisition of the software actuator are built.The physical performance data of the actuator is collected and completed Design-Simulation-Comparison of experimental data.According to the characteristics of actuator deformation and output force,a mathematical model of elastic modulus of software actuator is proposed.(4)Soft pneumatic actuator in rigid parallel robot structure.According to the characteristics of soft pneumatic actuator,the application of actuator in rigid parallel structure is researched and analyzed.The platform of soft-drive parallel mechanism is preliminarily designed to solve the problem of mechanism structure design,freedom degree analysis and pose inverse problem.Features and applications for analysis.