Driving and load performances of pneumatic soft self-folding manipulators

doi:10.3785/j.issn.1008-973X.2020.02.022

Journal of ZheJiang University (Engineering Science)

2020, Vol. 54

Issue (2): 398-406 DOI: 10.3785/j.issn.1008-973X.2020.02.022

Aerospace Technology

Driving and load performances of pneumatic soft self-folding manipulators

Yan XU(

),Qin FANG,Chao ZHANG,Hong-wei LI

School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China

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Abstract

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.

Key words： pneumatic soft manipulator self-folding origami driving mechanism load performance

Received: 19 August 2019 Published: 10 March 2020

CLC:

TP 242

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Cite this article:

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.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.02.022 OR http://www.zjujournals.com/eng/Y2020/V54/I2/398

气动软体自折叠机械臂的驱动和负载性能

提出由气动自折叠机械臂和气动关节构成的全软体空间捕获机器人方案. 基于折纸理论设计气动自折叠机械臂结构初始构型，研究气动自折叠机械臂的驱动特性和负载性能；进行气动机械臂的充气驱动试验，得到气压-伸长量关系曲线；基于非线性有限元法，分析气动机械臂驱动过程的大变形和应力应变分布. 结果表明，充气段和排气段的曲线均呈非线性变化，整个驱动过程的滞回曲线明显，验证了其充气驱动-排气自折叠的驱动特性. 通过负载能力试验和仿真分析，评估气动机械臂的负载能力. 随着设计气压不断变大，拉伸负载能力变小，滞回环变大，而抗压负载能力变大，滞回环变小. 所研究的气动自折叠机械臂为实现全软体空间捕获机器人提供技术支撑.

关键词： 气动软体机械臂, 自折叠, 折纸, 驱动特性, 负载能力

Fig.1 Schematic of soft space capture robots

Fig.2 Schematic diagram of pneumatic self-folding manipulator

Fig.3 Pneumatic bellows construction

Fig.4 Pneumatic joint model

Fig.5 Hexagonal origami pattern used in manipulator

Fig.6 Initial structural configuration of pneumatic manipulators

Fig.7 Geometric relationship between basic elements of pneumatic manipulators

Fig.8 Solid model of pneumatic manipulators

Fig.9 Figure of pneumatic manipulator

Fig.10 Material parameters test model for silicone rubber

Fig.11 Comparison of simulation and test results of stress-elongation ratio test

Fig.12 Device diagram of inflated driving test

Fig.13 Pressure-elongation test curves of pneumatic manipulators

Fig.14 Analysis model of pneumatic manipulators

Fig.15 Comparison of pressure-elongation curves of pneumatic manipulators

Fig.16 Structural deformation and stress-strain distribution of pneumatic manipulators

Tab.1 Cases of load capacity tests of pneumatic manipulators

Fig.17 Axial tensile/compression test of pneumatic manipulators

Fig.18 Load-displacement curves of pneumatic manipulators in different pressures

Fig.19 Comparison of simulation and experimental results of load-displacement in different cases


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