气动齿状软体驱动器动力学建模与仿真分析

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摘要针对发生面内弯曲、超弹性材料气动齿状软体驱动器，从非线性本构关系出发，考虑几何非线性，基于绝对节点坐标法（ANCF）建立二维多梁结构的动力学模型。考虑多点接触，采用罚函数法对相邻气腔之间的软接触问题进行建模，避免了相邻气腔之间的互相穿透，并能够准确模拟相邻气腔从不接触到充分接触的变拓扑过程。相比于ANCF实体单元模型，二维梁模型计算规模小，更加高效。通过气动弯曲实验和ABAQUS仿真，验证了理论模型的计算精度。在此基础上研究了重力对软体驱动器构型的影响，分析了充气速率和最终加载气压值对其动力学响应的影响。

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	苏怡仪1
	张力文1
	徐齐平2
	刘锦阳1

关键词 ：绝对节点坐标法, 气动齿状软体驱动器, 动力学建模, 软接触, 材料非线性, 实验验证

Abstract：With regard to a kind of hyper-elastic pneumatic toothed soft actuator with planar bending deformation, a dynamic model of the two-dimensional multi-beam structure was established based on the nonlinear constitutive relationship and absolute nodal coordinate method (ANCF) considering the geometrical nonlinearity. The penalty method is used to model the soft contact problem between adjacent chambers, which considers multi-point contact and can avoid the mutual penetration between adjacent chambers, and can accurately simulate the variable topological process of adjacent chambers from no contact to full contact. Compared with the ANCF solid element model, the two-dimensional multi-beam model has lower computational cost, therefore it is more efficient. The precision of the proposed theoretical model was verified by pneumatic bending experiments and ABAQUS simulation. On this basis, the influence of the gravity on the configuration of soft actuator is studied, and the influence of the inflation rate and the final loading pressure on its dynamic response is analyzed.

Key words： Absolute node coordinate method Pneumatic toothed soft actuator Dynamic modelling Soft contact Material nonlinearity Experimental verification

收稿日期: 2022-03-30 出版日期: 2023-04-28

引用本文:

苏怡仪1，张力文1，徐齐平2，刘锦阳1. 气动齿状软体驱动器动力学建模与仿真分析[J]. 振动与冲击, 2023, 42(8): 142-151.
SU Yiyi1，ZHANG Liwen1，XU Qiping2，LIU Jinyang1. Dynamic modelling and simulation analysis of a pneumatic toothed soft actuator. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(8): 142-151.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I8/142

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