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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (8): 1602-1609    DOI: 10.3785/j.issn.1008-973X.2019.08.019
电气工程、机械工程     
基于水压直驱的软体单元的动静态特性
陈英龙(),闫迪,张增猛*(),宁大勇,弓永军
大连海事大学 船舶与海洋工程学院，辽宁 大连 116026
Static and dynamic characteristics of soft unit based on hydraulic straight drive
Ying-long CHEN(),Di YAN,Zeng-meng ZHANG*(),Da-yong NING,Yong-jun GONG
Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, China
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摘要：

提出水压直驱纤维增强软体单元，采用伺服电机驱动水压缸实现软体运动控制，搭建试验台开展软体单元动静态特性研究. 针对软体单元输出力、径向膨胀、弯曲角度及刚度等性能开展静态试验. 结果表明，软体单元驱动压力为影响输出力和弯曲角度的主要因素；当输入压力增加时，软体最大径向膨胀速率为3%；当输入压力为0.3 MPa、末端位移为4 mm时，水压驱动输出力为4.3 N，与气压驱动相比，软体刚度增加0.025 N/mm. 建立水压直驱软体单元动力学模型，围绕软体单元弯曲角度、压力响应进行仿真分析及试验验证. 结果表明，水压直驱软体单元模型仿真与实测结果较吻合，弯曲角度稳定误差为1.70%，驱动水压稳定误差为0.33%. 研究成果表明采用水液压驱动软体机器人可提高其性能.
关键词： 水压直驱;  纤维增强;  软体单元;  动静态特性;  动力学模型    
Abstract:

A fiber-reinforced soft unit directly driven by water pressure was proposed and the servo motor was used to drive the hydraulic cylinder to realize the motion control of the soft unit. The static and dynamic characteristics of soft units were studied by setting up a test bed. Static tests were carried out on output force, radial expansion, bending angle and stiffness of the soft unit. Results showed that the driving force of the soft unit was the main factor affecting the output force and the bending angle. The maximum radial expansion rate of the soft unit was 3% as the input pressure increased. When the input pressure was 0.3 MPa and the end displacement was 4 mm, the output force of hydraulic drive was 4.3 N, and the stiffness of soft unit was 0.025 N/mm higher than that in the situation of air pressure drive. The dynamic model of soft unit was established, and the simulation analysis and experimental verification were conducted on the bending angle and the pressure response of the soft unit. Results showed that the simulation results of the hydraulic straight drive soft unit model were in good agreement with the measured results. The stability error values of bending angle and driving water pressure were 1.70% and 0.33%, respectively. Results show that water hydraulic drive can improve the performance of soft robots.
Key words: hydraulic straight drive    fiber reinforcement    soft unit    static and dynamic characteristics    dynamic model
收稿日期: 2018-08-10 出版日期: 2019-08-13
CLC:  TP 242  
通讯作者: 张增猛     E-mail: chenyinglong@dlmu.edu.cn;zzm.zju@163.com
作者简介: 陈英龙（1984—），男，讲师，从事水压驱动软体机器人、海洋机电装备、流体传动及控制研究. orcid.org/0000-0002-2149-093x. E-mail： chenyinglong@dlmu.edu.cn
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陈英龙
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弓永军

引用本文:

陈英龙,闫迪,张增猛,宁大勇,弓永军. 基于水压直驱的软体单元的动静态特性[J]. 浙江大学学报(工学版), 2019, 53(8): 1602-1609.

Ying-long CHEN,Di YAN,Zeng-meng ZHANG,Da-yong NING,Yong-jun GONG. Static and dynamic characteristics of soft unit based on hydraulic straight drive. Journal of ZheJiang University (Engineering Science), 2019, 53(8): 1602-1609.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.08.019    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I8/1602

图 1  软体单元工作原理简图
图 2  软体单元模型图与实物图
图 3  水压直驱动力源系统
图 4  三自由度试验台
图 5  端部力试验的软体单元布局图
图 6  软体单元姿态变化与径向膨胀简图
图 7  软体单元径向膨胀量随压力变化的曲线
图 8  软体单元驱动压力与输出力的试验曲线
图 9  流体体积与软体驱动压力/弯曲角度的试验曲线
图 10  软体刚度模型组成简图
图 11  水压与气压驱动软体的刚度试验曲线对比
图 12  水压驱动系统原理简图
参数 数值 参数 数值
k1 1 VL 2×10?3 L
k2 80 u 9.19×10?6 kPa·s
τ 0.01 s m 0.24 kg
AL 1.726×10?3 m2 B1 1
A1 2×10?5 m2 B2 200
AW 3×10?4 m2 f0 30 N
VW 5×10?4 L J 0.01
l 0.1 m K2 2.18×10?9 Pa
表 1  水压直驱系统及软体单元仿真参数
图 13  角度随时间变化的试验与仿真曲线
图 14  动态试验中软体内部压力随时间变化曲线
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