朱银龙,杨梓康,赵虎,王旭,刘英.PDMS/PTFE限制层材料软体机械手设计与性能试验[J].农业机械学报,2023,54(10):441-449.
ZHU Yinlong,YANG Zikang,ZHAO Hu,WANG Xu,LIU Ying.Influence Analysis of PDMS/PTFE Limiting Layer Material on Grasping Performance of Soft Manipulators[J].Transactions of the Chinese Society for Agricultural Machinery,2023,54(10):441-449.
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PDMS/PTFE限制层材料软体机械手设计与性能试验   [下载全文]
Influence Analysis of PDMS/PTFE Limiting Layer Material on Grasping Performance of Soft Manipulators   [Download Pdf][in English]
投稿时间:2023-05-18  
DOI:10.6041/j.issn.1000-1298.2023.10.045
中文关键词:  软体机械手  驱动器  有限元仿真  弯曲特性  限制层材料  PDMS/PTFE
基金项目:国家自然科学基金项目(51305209)、江苏省高等学校自然科学研究项目(18KJA4600050、21KJB460010)、江苏省“六大人才高峰”高层次人才项目(GDZB-024)和机器人学国家重点实验室开放项目(2018-O16)
作者单位
朱银龙 南京林业大学 
杨梓康 南京林业大学 
赵虎 南京林业大学 
王旭 南京林业大学 
刘英 南京林业大学 
中文摘要:为抑制软体驱动器弯曲过程中的不必要变形,提高软体机械手抓取能力,提出一种限制层材料为PDMS和PTFE混合制备的软体机械手。通过调整PDMS和PTFE之间的质量比来改变限制层刚度,进而改变软体机械手的弯曲角度。考虑到软体机械手工作时,应变层变形远大于限制层,采用Yeoh和Neo-Hookean形式的应变能方程表述应变层和限制层材料力学行为。基于模型和力矩平衡原理建立软体驱动器弯曲角度数学模型,进而研究限制层材料和结构参数对软体机械手弯曲性能的影响。利用单轴拉伸试验获取不同质量比的PDMS和PTFE混合制备的限制层样品应力应变曲线,并拟合获取Yeoh模型材料参数,进而进行有限元仿真分析,确定限制层材料的最佳比例。对不同限制层材料制成的驱动器进行弯曲角度测试,试验结果与理论分析偏差在5%以内,验证了数学模型的准确性。同时,驱动器的末端力测试结果表明,限制层PDMS/PTFE质量比为8∶1的驱动器明显优于纯硅胶软体驱动器,最大末端力可达2.45N。使用软体机械手对多种物品进行抓取试验,其最大抓取质量达420g。
ZHU Yinlong  YANG Zikang  ZHAO Hu  WANG Xu  LIU Ying
Nanjing Forestry University
Key Words:soft manipulator  actuator  finite element simulation  bending characteristics  materials for limiting layer  PDMS/PTFE
Abstract:To suppress unnecessary deformation during the soft actuator's bending and improve the soft manipulator's gripping ability, a soft manipulator with limiting layer materials of PDMS and PTFE was proposed. The stiffness of the limiting layer can be changed by adjusting the mass ratio of PDMS and PTFE, which directly affected the bending angle of the soft manipulator. Considering that the deformation of the strain layer was much larger than that of the constraint layer when the soft manipulator worked, Yeoh and Neo-Hookean form of strain energy function were used to describe the mechanical behavior of the strain layer and the constraint layer respectively. Based on the above models and the principle of torque balance, a mathematical model of the bending angle of the soft actuator was established, and then the influence of the material of the limiting layer and actuator structural parameters on its bending performance was investigated. The stress-strain curve of the limiting layer sample made of PDMS and PTEE with different mass ratios was obtained by uniaxial tensile test, and the material parameters of the Yeoh model were fitted, and then finite element simulation analysis was carried out to determine the optimal proportion of the restricted layer material. Finally, the bending angle of the actuators made of different limiting layers was tested, and the deviation between experimental results and theoretical analysis was within 5%, verifying the mathematical model's accuracy. The end force test results showed that the actuator with the PDMS/PTFE ratio of 8∶1 was better than that of pure silicone soft actuator, and the maximum end force can reach 2.45N. Using a soft manipulator for grasping experiments on various items, the maximum grasping mass was 420g.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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