基于力学超材料的柔性机械臂设计技术

doi:10.3969/j.issn.1004-132X.2023.16.002

中国机械工程 ›› 2023, Vol. 34 ›› Issue (16): 1900-1906.DOI: 10.3969/j.issn.1004-132X.2023.16.002

基于力学超材料的柔性机械臂设计技术

程基彬;戴宁;郭培;熊继源;叶世伟;程筱胜

南京航空航天大学机电学院，南京，210016

出版日期:2023-08-25 发布日期:2023-09-12
通讯作者: 戴宁（通信作者），男，1978年生，教授、博士研究生导师。研究方向为智能数字化制造。E-mail：dai_ning@nuaa.edu.cn。
作者简介:程基彬，男，1998年生，硕士研究生。研究方向为柔性机械臂。E-mail：npngc9523@163.com。
基金资助:
国家自然科学基金（52275255,51775273）;航空科学基金（2020Z049052002）

Design Techniques of Soft Robot Arms Based on Mechanics Metamaterials

CHENG Jibin;DAI Ning;GUO Pei;XIONG Jiyuan;YE Shiwei;CHENG Xiaosheng

College of Mechanical & Electrical Engineering,Nanjing University of Aeronautics and
Astronautics,Nanjing,210016

Online:2023-08-25 Published:2023-09-12

摘要/Abstract

摘要： 以力学超材料为基础结构的柔性机械臂可通过力学超材料的调配设计实现多重弯曲运动。为探究该类柔性机械臂的变形特性，在分析柔性机械臂结构及其驱动原理的基础上，通过分段常曲率假设建立胞元组变形的数学模型，同时根据柔性机械臂单元的弯曲特性进一步提出了单节柔性机械臂单元和多节柔性机械臂单元的变形预测模型，最后通过实物实验验证了变形预测模型的有效性，完成了超过±90°的弯曲并对末端周围的环境进行探查，可应用于复杂狭小空间的检视。

关键词: 柔性机械臂, 变形数学模型, 变形预测模型, 力学超材料

Abstract: Based on mechanics metamaterials, the soft robot arm might realize multiple bending motions through the deployment design of mechanics metamaterials. In order to investigate the deformation characteristics of this kind of soft robot arms, based on the analysis of the structure of the soft robot arms and the driving principle, a mathematical model of voxels deformation was established through the piecewise constant curvature hypothesis. At the same time, according to the bending characteristics of soft robot arm units, single-section and multi-section soft robot arm deformation prediction model were proposed. Finally, the effectiveness of the deformation prediction model was verified by the physical experiments, and the bending of more than ±90° was completed， the environment around the end was explored, which might be applied to the inspection of complex and narrow spaces.

Key words: soft robot arm, deformation mathematical model, deformation prediction model, mechanics metamaterial

中图分类号:

程基彬, 戴宁, 郭培, 熊继源, 叶世伟, 程筱胜. 基于力学超材料的柔性机械臂设计技术[J]. 中国机械工程, 2023, 34(16): 1900-1906.

CHENG Jibin, DAI Ning, GUO Pei, XIONG Jiyuan, YE Shiwei, CHENG Xiaosheng. Design Techniques of Soft Robot Arms Based on Mechanics Metamaterials[J]. China Mechanical Engineering, 2023, 34(16): 1900-1906.

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链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2023.16.002

http://www.cmemo.org.cn/CN/Y2023/V34/I16/1900

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基于力学超材料的柔性机械臂设计技术

Design Techniques of Soft Robot Arms Based on Mechanics Metamaterials

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