几何梯度软机器人作动器弯曲响应的实验与数值分析

IF 1.1 4区工程技术 Q3 MATERIALS SCIENCE, CHARACTERIZATION & TESTING

Archives of Mechanics Pub Date : 2018-10-30 DOI:10.24423/AOM.2903

S. Dilibal, H. Sahin, Y. Çelık

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引用次数: 25

摘要

在本研究中，设计了三种不同的软气动致动器（SPA），并使用热塑性聚氨酯（TPU）丝通过增材制造直接制造。在三种不同的设计中使用相同的总内体积尺寸来比较它们对弯曲响应的影响。根据单轴拉伸试验参数选择并实现了材料模型。将三种不同类型的软气动执行器的实验结果与数值模型结果进行了比较。特别是，将实验测得的弯曲力与数值模型对应的弯曲力进行了比较。最高的连续弯曲变形是在三种不同的软气动执行器之间确定的。此外，提出了一种新的集成设计和制造方法，旨在通过增材制造最大限度地提高致动器的潜在弯曲能力。

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Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator

In this study, three different soft pneumatic actuators (SPA) are designed and directly fabricated through additive manufacturing using thermoplastic polyurethane (TPU) filaments. The equal total inner volume size is used in the three varied designs to compare their effect on the bending response. A material model is selected and implemented according to the uniaxial tensile test parameters. The experimental results obtained from three different soft pneumatic actuators are compared with numerical model results. Especially, the experimentally measured bending forces are compared with the numerical model counterparts. The highest continuous bending deformation is determined among the three different soft pneumatic actuators. Additionally, a new integrated design and manufacturing approach is presented aiming to maximize the potential bending capability of the actuator through additive manufacturing.

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来源期刊

Archives of Mechanics 工程技术-材料科学：表征与测试

CiteScore

1.40

自引率

12.50%

发文量

审稿时长

>12 weeks

期刊介绍： Archives of Mechanics provides a forum for original research on mechanics of solids, fluids and discrete systems, including the development of mathematical methods for solving mechanical problems. The journal encompasses all aspects of the field, with the emphasis placed on: -mechanics of materials: elasticity, plasticity, time-dependent phenomena, phase transformation, damage, fracture; physical and experimental foundations, micromechanics, thermodynamics, instabilities; -methods and problems in continuum mechanics: general theory and novel applications, thermomechanics, structural analysis, porous media, contact problems; -dynamics of material systems; -fluid flows and interactions with solids. Papers published in the Archives should contain original contributions dealing with theoretical, experimental, or numerical aspects of mechanical problems listed above. The journal publishes also current announcements and information about important scientific events of possible interest to its readers, like conferences, congresses, symposia, work-shops, courses, etc. Occasionally, special issues of the journal may be devoted to publication of all or selected papers presented at international conferences or other scientific meetings. However, all papers intended for such an issue are subjected to the usual reviewing and acceptance procedure.