基于双材料嵌套弹性体的变刚度接头分析与研究

Wei Sun, Jingjun Yu, Yueri Cai
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引用次数: 0

摘要

变刚度关节是近年来备受关注的一种可提高人机物理交互安全性的柔性机构。弹性单元用于变刚度关节的内部运动结构。在本文中,具有磁流变流体(MRFs)特性的弹性体在可变刚度关节(VSJs)和植入式生物电子器件中具有巨大的应用潜力,它允许执行器在极短的时间和大范围内从“流体”状态快速可逆地转变为“类固体”状态,并在磁场下精确控制。介绍了一种新型可调刚度复合材料(ASCs),该复合材料将外衬(PDMS)与腔室(MRFs)相结合。当提高磁场强度时,磁流变系数变硬,刚度增加4-5个数量级。针对双材料嵌套悬臂梁自由端受集中切向力的问题,采用Airy应力函数法结合应力函数试验解提出了一种理论求解方法。通过对理论测量和实验测量结果的比较,发现两者吻合得很好,表明了理论结果的准确性和可行性。该解决方案可用于分析任意双材料嵌套悬臂梁,并可作为建立刚度和应力理论的基础。由于ASCs的高度可变形性,它在未来的软机器人设计和制造工作中具有很大的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Analysis and Study of Variable Stiffness Joints Based on Bi-Material Nested Elastomers
Variable stiffness joints are a kind of compliant mechanisms which can improve the safety of physical human-robot interaction which has attracted much attention in recent years. Elastic elements are used in the internal kinematic structures of variable stiffness joints. In this paper, Elastomers with magneto-rheological fluids (MRFs) properties have great potential application for variable stiffness joints (VSJs) and implantable bioelectronics devices by allowing actuators to rapidly and reversibly changed from a “fluid” to a “solid-like” state and precisely controlled within a very short time and over a wide range under a magnetic field. A new adjustable stiffness composites (ASCs) that combine an outside liner (PDMS) with a chamber (MRFs) is introduced. When improving the magnetic field intensity, the MRFs hardens and the stiffness increases by as much as 4–5 orders of magnitude. In order to solve the bi-material nested cantilever beam subjected to a concentrated tangential force at the free end of the beam, a theoretical approach is proposed by means of the Airy stress function method together with the stress function test solution. By comparing the results obtained from the theoretical and experimental measurements, a very good agreement is found, showing the accuracy and feasibility of the theoretical results. This solution will be useful in analyzing cantilever beam with arbitrary variations of bi-material nested and it can serve as a basis for establishing stiffness and stress theories. Due to the highly deformable of the ASCs, it has great potentially for our future soft robot design and manufacture work.
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