Due to the inherent flexibility of the material, the flexible manipulator is highly adaptable to the environment. Compared with rigid robots, it is characterized by better adaptability, better flexibility, and better human–computer interaction performance. Therefore, it has gradually become a field popularly studied in the world. In this paper, a multi-cavity flexible actuator is fabricated, which consists of two parts, a main chamber and a base. The main body chamber is made of super-elastic material, and the base is mainly made of super-elastic material. There is a strain-limiting layer in the middle of the base, and the differential effect between these two parts is used to realize the bending action of the actuator. The pneumatic driving method is adopted, and the grasping action of the flexible gripper is realized by changing the air pressure inside the chamber. The mathematical model of flexible actuator was established and simulated by Abaqus finite element software to explore the effect of the length, the width and the height of the single chamber of the actuator on its bending performance. The experimental results show that: when the air pressure is constant, (1) the height and the width of the single chamber have a great influence on the bending performance, and all show a positive correlation; (2) compared with the height and the width, the length of the single chamber has a relatively smaller effect on the bending performance, and there is a negative correlation.

由于材料固有的柔韧性，柔韧性机械手高度适应环境。与刚性机器人相比，它具有更好的适应性，更好的灵活性以及更好的人机交互性能。因此，它已逐渐成为世界上广泛研究的领域。在本文中，制造了一种多腔柔性致动器，该致动器由两个部分组成：主腔室和基座。主体腔室由超弹性材料制成，而基座主要由超弹性材料制成。基座中间有一个应变限制层，这两个部分之间的微分作用用于实现执行器的弯曲作用。采用气动驱动方式，通过改变腔室内的气压来实现柔性抓手的抓握动作。建立了挠性执行器的数学模型，并通过Abaqus有限元软件进行了仿真，以探讨执行器单腔的长度，宽度和高度对其弯曲性能的影响。实验结果表明：在气压恒定的情况下，（1）单腔的高度和宽度对弯曲性能有很大的影响，且均呈正相关。（2）与高度和宽度相比，单个腔室的长度对弯曲性能的影响相对较小，并且存在负相关。建立了挠性执行器的数学模型，并通过Abaqus有限元软件进行了仿真，以探讨执行器单腔的长度，宽度和高度对其弯曲性能的影响。实验结果表明：在气压恒定的情况下，（1）单腔的高度和宽度对弯曲性能有很大的影响，且均呈正相关。（2）与高度和宽度相比，单个腔室的长度对弯曲性能的影响相对较小，并且存在负相关。建立了挠性执行器的数学模型，并通过Abaqus有限元软件进行了仿真，以探讨执行器单腔的长度，宽度和高度对其弯曲性能的影响。实验结果表明：在气压恒定的情况下，（1）单腔的高度和宽度对弯曲性能有很大的影响，且均呈正相关。（2）与高度和宽度相比，单个腔室的长度对弯曲性能的影响相对较小，并且存在负相关。（1）单个腔室的高度和宽度对弯曲性能有很大影响，并且都表现出正相关；（2）与高度和宽度相比，单个腔室的长度对弯曲性能的影响相对较小，并且存在负相关。（1）单个腔室的高度和宽度对弯曲性能有很大影响，并且都呈现正相关；（2）与高度和宽度相比，单个腔室的长度对弯曲性能的影响相对较小，并且存在负相关。