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首页> 外文期刊>Mathematical Problems in Engineering >An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA
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An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA

机译：利用弯曲模型和GA的轨迹匹配PNEU-NET致动器的最佳设计方法

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摘要

This study addresses the problem in designing pneu-net actuators to achieve specific target trajectories for particular applications. The finite element analysis (FEA) method is used to study the sensitivity of 9 design parameters to bending deformation of actuators, and the results of FEA demonstrate that the width of the chamber and the width of the middle layer have great influence on the bending performance. Besides, the relations between the bending angles of actuators with different width parameters and the pressure are always highly linear. Using FEA and the cubic polynomial fitting algorithm, a unified bending model of the pneu-net actuator is established with three crucial design parameters (i.e., segment length, chamber width, and middle-layer width). An optimum design method based on the bending model and genetic algorithm (GA) is put forward to automatically adjust these three crucial parameters to realise trajectory matching. The method is developed to be an effective solution for the problem in matching the target trajectory with the experimental results achieved on an actuator designed by imitating a human index finger. Furthermore, the results of the experiment also verify that the actuator can achieve stable grasping, and the proposed method has an important directive to design pneu-net actuators for their application in the fields of robotics, rescue, and detection.
机译：本研究解决了设计PNEU-Net致动器的问题，以实现特定应用的特定目标轨迹。有限元分析（FEA）方法用于研究致动器的弯曲变形的9个设计参数的灵敏度，并且FEA的结果证明腔室的宽度和中间层的宽度对弯曲性能产生了很大的影响。此外，具有不同宽度参数和压力的致动器的弯曲角之间的关系总是高度线性的。使用FEA和立方多项式拟合算法，采用三个关键设计参数（即段长，腔室宽度和中层宽度）建立了PNEU-Net致动器的统一弯曲模型。提出了一种基于弯曲模型和遗传算法（GA）的最佳设计方法，以自动调整这三个关键参数以实现轨迹匹配。该方法被开发为对匹配目标轨迹的问题的有效解决方案，通过模仿人类食指设计的致动器上实现的实验结果。此外，实验结果还验证了执行器可以实现稳定的抓握，并且所提出的方法具有设计PNEU-Net致动器的重要指令，以便在机器人，救援和检测领域应用。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第21期|6721897.1-6721897.12|共12页
  • 作者

    Sun Yilin; Zhang Qiuju; Chen Xiaoyan; Chen Haiwei;

  • 作者单位

    Jiangnan Univ Sch Mech Engn Wuxi 214122 Jiangsu Peoples R China|Jiangnan Univ Jiangsu Key Lab Adv Food Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China;

    Jiangnan Univ Sch Mech Engn Wuxi 214122 Jiangsu Peoples R China|Jiangnan Univ Jiangsu Key Lab Adv Food Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China;

    Jiangnan Univ Sch Mech Engn Wuxi 214122 Jiangsu Peoples R China|Jiangnan Univ Jiangsu Key Lab Adv Food Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China;

    Jiangnan Univ Sch Mech Engn Wuxi 214122 Jiangsu Peoples R China|Jiangnan Univ Jiangsu Key Lab Adv Food Mfg Equipment & Technol Wuxi 214122 Jiangsu Peoples R China;

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  • 正文语种 eng
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