Static and dynamic characteristics of soft unit based on hydraulic straight drive

doi:10.3785/j.issn.1008-973X.2019.08.019

Journal of ZheJiang University (Engineering Science)

2019, Vol. 53

Issue (8): 1602-1609 DOI: 10.3785/j.issn.1008-973X.2019.08.019

Electric Engineering, Mechanical Engineering

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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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

Received: 10 August 2018 Published: 13 August 2019

CLC:

TP 242

Corresponding Authors: Zeng-meng ZHANG E-mail: chenyinglong@dlmu.edu.cn;zzm.zju@163.com

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	Ying-long CHEN
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	Yong-jun GONG

Cite this article:

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.

URL:

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

基于水压直驱的软体单元的动静态特性

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

Fig.1 Schematic diagram of soft unit working principle

Fig.2 Model diagram and physical map of soft unit

Fig.3 Power supply system of hydraulic straight drive

Fig.4 Test platform of three degree of freedom

Fig.5 Soft unit layout of end force test

Fig.6 Schematic diagram of attitude change and radial expansion of soft unit

Fig.7 Curve of radial expansion of soft unit with pressure

Fig.8 Test curve of driving pressure and output force of soft unit

Fig.9 Test curve of fluid volume and soft driving pressure/bending angle

Fig.10 Composition diagram of soft stiffness model

Fig.11 Comparison diagram of soft unit stiffness test curves driven by water pressure and air pressure

Fig.12 Schematic diagram of principle for hydraulic drive system

Tab.1 Simulation parameters of hydraulic straight drive system and soft unit

Fig.13 Experimental and simulation curves of angle varying with time

Fig.14 Curve of internal pressure varying with time in dynamic test


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