上海交通大学学报

上海交通大学学报（自然版） ›› 2018, Vol. 52 ›› Issue (1): 20-25.doi: 10.16183/j.cnki.jsjtu.2018.01.004

• 学报（中文） • 上一篇    下一篇

多气囊仿生软体机器人设计及其运动特性分析

王江北，方晔阳，童歆，张帅，费燕琼   

  1. 上海交通大学 机器人研究所， 上海 200240
  • 出版日期:2018-01-01 发布日期:2018-01-01
  • 基金资助:
    国家自然科学基金项目（51475300）资助

Design and Locomotion Properties of a Multi-Airbag Bionic Soft Robot

WANG Jiangbei,FANG Yeyang,TONG Xin,ZHANG Shuai,FEI Yanqiong   

  1. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2018-01-01 Published:2018-01-01

摘要： 设计了一种多气囊仿生软体机器人，由位于上方的多个相互连通的气囊和位于下方的双层底座组成，通过给气囊充气以使软体机器人产生弯曲，通过在软体机器人前、后表面设置不同的摩擦片，机器人能够利用前、后摩擦力的不同而得以前行；利用ANSYS软件分析软体机器人充气、放气过程中的内应力，以改善机器人的结构设计；采用Yeoh模型研究软体机器人运动过程中的力学特性，在理想条件下推导出软体机器人的前行步幅与气囊内部气体压力的非线性关系模型，并通过仿生软体机器人的充气和前行运动实验验证仿生软体机器人前行运动的可行性.结果表明，当充气压力为90kPa时，机器人前进的步幅为19.25mm，与其理论值(22.85mm)基本一致.

关键词: 软体机器人, 仿生机器人, 运动特性, 气囊

Abstract: A multi-airbag bionic soft robot is designed, which consists of several connected airbags sitting on a two-layer base. The robot bends when airbags are inflated. Two friction plates are mounted at the bottom to generate different friction forces in the front and back to make the robot move forward. The locomotion analysis is completed and structure of the robot is improved according to the finite element analysis of internal stress and strain by using software ANSYS. By using the Yeoh model, dynamics analysis of the moving process is finished and the non-linear relationship between pressure inside the airbags and stride length of the robot under theoretical conditions is obtained. Finally, an experiment is conducted to verify the moving mode of the bionic soft robot. Results indicate that the experimental stride length is 19.25mm, which is basically consistent with the theoretical one 22.85mm.

Key words: soft robot, bionic robot, locomotion properties, airbag

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