文章基本信息

标题：Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism
其他标题：Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism
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作者：Yinglong Chen ; Junhao Zhang ; Yongjun Gong 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2020
卷号：9
期号：4
页码：107
DOI：10.3390/act9040107
出版社：MDPI Publishing
摘要：The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude.
关键词：soft actuator; extensor; contractor; antagonism soft actuator ; extensor ; contractor ; antagonism