平面操作台软作动器的建模

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI:10.1109/M2VIP.2018.8600916

Zixiao Chen, Zhicong Deng, J. Dhupia, M. Stommel, Weiliang Xu

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引用次数: 2

摘要

本文研究了柔性表面机械臂的软执行机构的变形细节。建立了充气压力与物体位移之间的关系。采用有限元分析方法研究了单个软作动器的工作原理。仿真结果显示了软致动器对物体表面运动的影响。通过对有限元模型施加不同压力，建立膨胀压力与物体位移之间的关系。将软表面机械臂视为作用于物体的伺服机构。建立了目标的运动模型，为后续工作中轨迹跟踪算法的发展提供了方便。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modelling of a Soft Actuator for a Planar Manipulator Table

In this paper, the deformation details of a soft actuator of a soft surface manipulator was investigated. The relation between the pressure of the inflation and the object displacement was established. Finite Element Analysis was used to investigate the working principle of single soft actuator. The simulation results show how the soft actuators effect the movement of the object on the surface. The relation between inflation pressure and object displacement was established by applying different pressure to the Finite Element model. The soft surface manipulator was considered as a servo mechanism acting on the object. The kinematic model of the object was established to facilitate the development of trajectory tracking algorithm in the future work.

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来源期刊

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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