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工程设计学报
工程设计学报  2017, Vol. 24 Issue (5): 511-517    DOI: 10.3785/j.issn.1006-754X.2017.05.004
创新设计     
多腔体式仿生气动软体驱动器的设计与制作
隋立明, 席作岩, 刘亭羽
哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Design and fabrication of multi-chamber biomimetic pneumatic soft actuators
SUI Li-ming, XI Zuo-yan, LIU Ting-yu
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
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摘要：

软体驱动器是一种由柔软材料组成，并主要通过弹性材料的弯曲、收缩或伸长等来实现运动的执行器。软体驱动器是实现仿生软体机器人运动和动作的关键部分，开发适用的软体驱动器是进行仿生软体机器人研究的前提。为研究能够驱动软体机器人的仿生软体驱动器，基于目前常见的软体驱动器形式，提出并设计了一种多腔体式仿生气动软体驱动器。该气动软体驱动器主体结构采用硅胶材料制作，能够利用3D打印的模具进行成型。该驱动器主体结构加上底面或经组合后，可以分别得到伸长驱动器、单向弯曲驱动器及双向弯曲驱动器，能够实现类似身体柔软类动物的仿生变形运动。分别对上述3种软体驱动器的静态特性进行了测试，结果表明，在15 kPa压力下伸长驱动器的伸长率能够达到40%以上，弯曲驱动器在同样压力下也具有较大的弯曲变形。经实践证明，所设计的多腔体式仿生气动软体驱动器原理可行、制作工艺简单，能够在软体机器人及相关领域中得到广泛应用。
关键词： 气动软体驱动器;  软体机器人;  仿生    
Abstract:

Soft actuators are made of soft materials, and can realize movement through bending, contraction and extension of the soft elastomer material. Soft actuators are the key parts to realize the movement of biomimetic soft robots. Development of proper soft actuator is the prerequisite of biomimetic soft robot study. In order to develop biomimetic soft actuators which can be applied to soft robot, the structure of multi-chamber biomimetic pneumatic soft actuator is designed based on the common soft actuators structures. The main structure of the soft actuator was made of silicon rubber, and the actuator was fabricated by way of 3D printed mold. The main structure of soft actuators were affixed a base or combined to get extending actuators, unidirectional bending actuators and bidirectional bending actuators, which could deform like soft bodied animals do. The characteristics of the three soft actuators were tested. Results showed that the extending actuator has 40% extension under pressure of 15 kPa, and the bending actuator has large deformation under the same pressure. Practice proves that the principles of the multi-chamber biomimetic pneumatic soft actuators are feasible and the fabrication of the actuators is easy. The soft actuators can be applied widely in soft robots and other related areas.
Key words: pneumatic soft actuator    soft robot    biomimetic
收稿日期: 2017-05-15 出版日期: 2017-10-28
CLC:  TH138  
基金资助:

哈尔滨工程大学基础研究基金资助项目（HEUFT0504）
作者简介: 隋立明(1971-),男,黑龙江哈尔滨人,讲师,博士,从事气动技术及仿生机器人研究,E-mail:suiliming@hrbeu.edu.cn,http://orcid.org/0000-0002-5795-6324
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隋立明
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引用本文:

隋立明, 席作岩, 刘亭羽. 多腔体式仿生气动软体驱动器的设计与制作[J]. 工程设计学报, 2017, 24(5): 511-517.

SUI Li-ming, XI Zuo-yan, LIU Ting-yu. Design and fabrication of multi-chamber biomimetic pneumatic soft actuators[J]. Chinese Journal of Engineering Design, 2017, 24(5): 511-517.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2017.05.004    或    https://www.zjujournals.com/gcsjxb/CN/Y2017/V24/I5/511

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