【摘要】：氣動柔性執(zhí)行器利用清潔氣源可在空間中完成指定動作,運(yùn)動靈活、環(huán)境適應(yīng)性強(qiáng),發(fā)展前景廣闊。本文研究的氣動柔性執(zhí)行器由三個并聯(lián)的波紋管、中間環(huán)及上下連接板組成,整體執(zhí)行器均由3D打印制造。通入一定壓力的氣體后,并聯(lián)波紋管結(jié)構(gòu)的氣動柔性執(zhí)行器會產(chǎn)生相應(yīng)變形。本文對波紋管及執(zhí)行器的有限元仿真方法、靜力學(xué)模型及優(yōu)化設(shè)計(jì)等內(nèi)容進(jìn)行研究,并對理論分析結(jié)果進(jìn)行實(shí)驗(yàn)驗(yàn)證。通過單軸拉伸實(shí)驗(yàn)對3D打印柔性材料試件進(jìn)行力學(xué)特性的測量,得到不同打印條件下材料的應(yīng)力應(yīng)變曲線、彈性模量及泊松比。通過對比不同設(shè)置條件下3D打印柔性材料的仿真結(jié)果,得到最佳的有限元仿真方法。利用最小二乘法對波紋管基本單元進(jìn)行剛度辨識。為了便于計(jì)算,將剛度矩陣線性化處理。利用辨識的柔度矩陣計(jì)算不同外力下波紋管基本單元的變形量,并與有限元仿真結(jié)果進(jìn)行對比。利用辨識方法計(jì)算不同氣壓力下波紋管基本單元的剛度矩陣。對執(zhí)行器單層結(jié)構(gòu)進(jìn)行靜力學(xué)建模,得到不同外力下執(zhí)行器的變形量,并與仿真結(jié)果進(jìn)行對比,修正剛度矩陣。利用靜力學(xué)模型計(jì)算得到執(zhí)行器的載荷特性。提出執(zhí)行器結(jié)構(gòu)的優(yōu)化方法。以波紋管剛度矩陣中的特征剛度和執(zhí)行器的工作空間體積、最大半徑及最大高度為優(yōu)化目標(biāo),對波紋管基本單元小徑及單節(jié)長度進(jìn)行優(yōu)化,得到最大優(yōu)化目標(biāo)時的結(jié)構(gòu)參數(shù)。對整體執(zhí)行器進(jìn)行打印和組裝。通過波紋管和執(zhí)行器的受力變形實(shí)驗(yàn),分別驗(yàn)證了波紋管的有限元分析方法和執(zhí)行器的靜力學(xué)建模計(jì)算方法。
[Abstract]:The pneumatic flexible actuator can accomplish the specified action in space by using clean gas source, which has the advantages of flexible motion, strong adaptability to the environment and broad prospect of development. The pneumatic flexible actuator studied in this paper consists of three parallel corrugated tubes, the middle ring and the upper and lower connecting plates. The whole actuator is manufactured by 3D printing. The pneumatic flexible actuator of parallel bellows will produce corresponding deformation after a certain pressure gas. In this paper, the finite element simulation method of bellows and actuators, statics model and optimization design are studied, and the theoretical analysis results are verified by experiments. The mechanical properties of 3D printed flexible materials were measured by uniaxial tensile test, and the stress-strain curves, elastic modulus and Poisson's ratio were obtained under different printing conditions. By comparing the simulation results of 3D printing flexible materials with different settings, the best finite element simulation method is obtained. The least square method is used to identify the stiffness of the basic elements of bellows. For the convenience of calculation, the stiffness matrix is linearized. The deformation of the basic element of bellows under different external forces is calculated by using the identified flexibility matrix, and the results are compared with the results of finite element simulation. The stiffness matrix of the basic elements of the bellows under different gas pressures is calculated by using the identification method. The static modeling of the actuator single-layer structure is carried out, and the deformation of the actuator under different external forces is obtained. The stiffness matrix is modified by comparing the simulation results with the simulation results. The load characteristics of actuator are calculated by statics model. The optimization method of actuator structure is proposed. Taking the characteristic stiffness in the corrugated tube stiffness matrix and the workspace volume, maximum radius and maximum height of the actuator as the optimization objectives, the diameter and length of the basic unit of the corrugated tube are optimized, and the structural parameters of the maximum optimization objective are obtained. Print and assemble the whole actuator. The finite element analysis method of the bellows and the static modeling method of the actuator are verified by the experiments of the bellows and actuators.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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