Improving the Pressure Bearing Capability of Soft Pneumatic Actuators for Hand Improving the Pressure Bearing Capability of Soft Pneumatic Actuators for Hand Rehabilitation Based on a Novel Sealing Method
首发时间:2018-04-26
Abstract:Enough air pressure bearing capability is extremely important for realizing the functions of soft pneumatic actuators. However, there is few theoretical analysis or experimental analysis in literature, to the best knowledge of the authors about the structure design of the sealing junction of which the pressure bearing capability of actuator mainly depends on. In this paper, affecting factors of the pressure bearing capability of the soft pneumatic actuators for hand rehabilitation were explored through the nonlinear finite element model, based on which the corresponding structures were designed and the contrast experiments were conducted. According to the test results, a novel integrated structure of the sealing junction was presented and applied to the soft pneumatic actuators. Finally, the effectiveness and reliability of the soft pneumatic actuators based on the proposed sealing method were verified in a prototyped hand rehabilitation system. ?
keywords: soft actuator sealing method structure pressure capability
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提高手功能康复机器人软体驱动器承压性能的创新结构
摘要:足够的气压承受性能对于实现软体气动驱动器的功能至关重要。然而,就作者所了解的文献中,对于驱动器承压性能具有决定性作用的密封件结构的理论分析或实验分析寥寥无几。因此,本文基于非线性大变形的有限元模型仿真结果,分析了手部康复机器人软体气动驱动器承压能力的主要影响因素,并据此设计和制作不同的密封件结构,展开相应的对比实验。根据实验结果,提出了一种新型的封口密封件集成结构,并将其应用于软体气动驱动器。 最后,通过手部康复机器人样机系统,验证了基于所提出的密封方法的软体气动驱动器的有效性和可靠性。
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