| 引用本文: | 刘卓群,张翔,黄奕勇,等.气控软体驱动器结构分析与优化设计[J].国防科技大学学报,2022,44(2):150-161.[点击复制] |
| LIU Zhuoqun,ZHANG Xiang,HUANG Yiyong,et al.Structure analysis and design optimization of pneumatic soft manipulator[J].Journal of National University of Defense Technology,2022,44(2):150-161[点击复制] |
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| 气控软体驱动器结构分析与优化设计 |
| 刘卓群1,张翔2,黄奕勇2,陈小前2,赵勇1 |
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(1. 国防科技大学 空天科学学院, 湖南 长沙 410073;2. 军事科学院 国防科技创新研究院, 北京 100071)
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| 摘要: |
| 气控软体驱动器的结构特性对其运动和力学特性影响显著,目前气控软体驱动器支反力和倾角性能亟须提升。基于ABAQUS提供的脚本接口,采用Python语言开发脚本建立气控软体驱动器参数化仿真模型,将尺寸因子作为优化变量,联立Isight和ABAQUS,采用单因子试验方法确定倾角和支反力两个目标量的高敏感性影响因子。运用归一化与加权策略及进化优化算法对倾角与支反力进行全局目标优化,得到最优参数组合。结果表明,支反力和倾角相对于响应初值分别提升29%、136%,实现气控软体驱动器有限元计算和多变量优化耦合运行,同步提升了气控软体驱动器的弯曲变形能力和负载能力。 |
| 关键词: 气控驱动器 参数化 敏感性分析 多目标优化设计 |
| DOI：10.11887/j.cn.202202019 |
| 投稿日期：2021-11-03 |
| 基金项目:国家自然科学基金资助项目(11725211,11972373,52072408)；国防科技基础加强计划资助项目(2020-JCJQ-QT-039) |
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| Structure analysis and design optimization of pneumatic soft manipulator |
| LIU Zhuoqun1, ZHANG Xiang2, HUANG Yiyong2, CHEN Xiaoqian2, ZHAO Yong1 |
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(1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China;2. National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing 100071, China)
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| Abstract: |
| The motion and mechanical characteristics of pneumatic soft manipulators are significantly affected by their structural characteristics. At present, it is urgent to improve the support reaction force and inclination angle of the pneumatic soft manipulator. Based on the script interface provided by ABAQUS, Python script was developed to establish a parametric simulation model of gas control software drive, using the size factor as the optimization variable, linking Isight and ABAQUS, and to determine the high sensitivity influence factor of inclination angle and support reaction force by single factor test method.The normalization and weighting strategy and the evolutionary optimization algorithm were used to optimize the inclination angle and the support reaction force, thereby obtaining optimal parameter combination. The results show that the support reaction force and inclination angle are increased by 29% and 136% respectively compared with the initial value of the response. The combination of finite element calculation and multi-variable optimization of the pneumatic soft manipulator is realized and the bending deformation capacity and load capacity of the pneumatic soft manipulator are improved simultaneously. |
| Keywords: pneumatic manipulator parameterization sensitivity analysis multi-objective design optimization |
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