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与传统的“刚性”机器人相比,基于仿生学启发的软体机器人由于其与生俱来的柔顺性和安全性受到广泛关注。然而,此类软体机器人驱动器的设计与控制目前仍缺少理论指导。针对这些问题,设计了一种由气压驱动的可实现弯曲运动的新型软体驱动器,在系统分析其结构和弯曲原理的基础上,利用几何方法和虚功原理建立了其数学模型,并且通过有限元模型和原理样机实验验证了数学模型的有效性,为软体机器人驱动器的优化设计和控制提供了依据。
Bionic robotically inspired robots receive much attention due to their inherent flexibility and safety compared to traditional “rigid” robots. However, the design and control of such software robot drivers are still lack of theoretical guidance. Aiming at these problems, a new type of software driver driven by barometric pressure was designed. Based on the analysis of its structure and bending principle, the mathematical model was established by using the geometrical method and virtual work principle. The finite element The model and the principle of prototype experiments verify the effectiveness of the mathematical model, which provides the basis for the optimal design and control of the software robot driver.