多向气动驱动器软体仿生舌弯曲状态的研究

以软体仿生舌为研究对象，针对多向驱动器的变形机理，开展了面向软体仿生舌的单/多向驱动器的弯曲特性研究。首先，设计了气动驱动软体仿生舌，其在单/多向驱动器的作用下可实现吐舌、翻舌、卷舌以及斜翻舌等动作；其次，为进一步研究驱动器的变形机理，开展了针对单/多向驱动器的结构及变形工作原理的研究；然后，基于Yeoh模型应变能密度函数，结合力平衡方程，建立了驱动压强和驱动器弯曲变形后曲率半径的非线性数学模型；最后，为验证理论模型的正确性，开展了软体仿生舌的仿真研究及相关实验验证，结果证明了理论模型的正确性。上述研究为其他基于气动驱动的软体结构变形机理的研究提供了理论基础。 

Motion characteristics of soft bionic tongue based on multi-directional pneumatic actuator

Aimed at multi-directional actuator deformation mechanism, this paper takes the soft bionic tongue as research object and the research on the motion characteristics of one/multi-directional actuator for the soft bionic tongue is carried out. Firstly, a soft bionic tongue driven by pneumatic actuator is designed, which can complete many actions including tongue stretching, twisting, rolling and tilting by the one/multi-directional actuator. Secondly, in order to further study the actuator's deformation mechanism, the research on the structure and deformation operating principle of one/multi-directional actuator is carried out. Then, a nonlinear mathematical model of radius of a soft bionic tongue actuated by specific pressure is established, which is based on the Yeoh model strain energy density function and combined with the force balance equation. Finally, the finite element simulation and experimental validation of the soft bionic tongue are carried out to verify the correctness of the theoretical model. Consequently, the above research provides a theoretical basis for other research on the deformation mechanism of pneumatically actuated soft structures.