A space soft capture robot composed of pneumatic self-folding manipulators and pneumatic joints was presented. The initial structural configuration of the pneumatic self-folding manipulators was designed based on the origami theory. The driving mechanism and load performance of the pneumatic self-folding manipulators were investigated. The inflated drive tests of the pneumatic manipulators were conducted and the pressure-elongation curves were obtained. The large deformations and stress/strain distributions of the manipulators were analyzed based on the nonlinear finite element method. Results show that the curves of both the inflated stage and the exhaust stage are nonlinear, and the hysteresis curves are obvious in the whole driving process. Thus, the driving mechanisms of inflated expansion and exhaust self-folding can be verified. The load performances of the pneumatic manipulators were evaluated by load performance test and simulation analysis. As the design pressure increases, the tensile load capacity decreases and the area of hysteresis cycle increases, while the compressive load capacity increases and the area of hysteresis cycle decreases. The pneumatic self-folding manipulators provide technical supports for the realization of space soft capture robots.
Yan XU,Qin FANG,Chao ZHANG,Hong-wei LI. Driving and load performances of pneumatic soft self-folding manipulators. Journal of ZheJiang University (Engineering Science), 2020, 54(2): 398-406.
Fig.2Schematic diagram of pneumatic self-folding manipulator
Fig.3Pneumatic bellows construction
Fig.4Pneumatic joint model
Fig.5Hexagonal origami pattern used in manipulator
Fig.6Initial structural configuration of pneumatic manipulators
Fig.7Geometric relationship between basic elements of pneumatic manipulators
Fig.8Solid model of pneumatic manipulators
Fig.9Figure of pneumatic manipulator
Fig.10Material parameters test model for silicone rubber
Fig.11Comparison of simulation and test results of stress-elongation ratio test
Fig.12Device diagram of inflated driving test
Fig.13Pressure-elongation test curves of pneumatic manipulators
Fig.14Analysis model of pneumatic manipulators
Fig.15Comparison of pressure-elongation curves of pneumatic manipulators
Fig.16Structural deformation and stress-strain distribution of pneumatic manipulators
序号
p/Pa
Δ/mm
1
0
80（拉伸）
2
482
80（拉伸）
3
964
80（拉伸）
4
482
40（压缩）
5
964
40（压缩）
Tab.1Cases of load capacity tests of pneumatic manipulators
Fig.17Axial tensile/compression test of pneumatic manipulators
Fig.18Load-displacement curves of pneumatic manipulators in different pressures
Fig.19Comparison of simulation and experimental results of load-displacement in different cases
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