典型文献
Bending Prediction Method of Multi-Cavity Soft Actuator
文献摘要：
The multi-cavity soft actuator is assembled from single-cavity soft actuator through a reasonable geometric distribution.It has the characteristic that the pneumatic soft actuator is driven by its own deformation and has more degrees of freedom.Pneumatic soft actuator is widely used as an emerging discipline and its strong compliance has been greatly developed and applied.However,as the most application potential type of soft actuators,there is still a lack of simple and effective deformation prediction methods for studying the spatial deformation of multi-cavity soft actuators.To solve this problem,a vector equation method is proposed based on the analysis of the principle of the space deformation of the two-cavity,three-cavity and four-cavity soft actuators.Furthermore,a nonlinear mathematical model of the air pressure,space position and deformation trajectory of the soft actuator end is established by combining the vector equation method.Finally,the three-channel soft actuator is verified through experiments.The results show that the mathematical model can better predict the space deformation trajectory of the soft actuator,which provides a new research method for studying the space deformation of the multi-channel soft actuator.
文献关键词：
中图分类号：
作者姓名：
HUO Qianjun;LIU Sheng;XU Qingyu;ZHANG Yuanfei;ZHANG Yaoyao;LI Xu
作者机构：
School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China
文献出处：
引用格式：
[1]HUO Qianjun;LIU Sheng;XU Qingyu;ZHANG Yuanfei;ZHANG Yaoyao;LI Xu-.Bending Prediction Method of Multi-Cavity Soft Actuator)[J].上海交通大学学报（英文版）,2022(05):631-637
A类：
B类：
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AB值：
0.510693
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