The design of a pneumatic soft-bodied bionic actuator derives from the structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel, which can improve the mobility and environmental adaptability of soft-bodied bionic robots. Based on Yeoh’s second-order constitutive model of silica gel, the deformation analysis model of the actuator is established, and the rationality of the structure design and motion forms of the actuator and the accuracy of the deformation analysis model are verified by using the numerical simulation algorithm. According to the physical model of the pneumatic soft-bodied bionic actuator, the motion and dynamic characteristics of the actuator are tested and analyzed, the curves of motion and dynamic characteristics of the actuator are obtained, and the empirical formula of the bending angle and driving torque of the actuator is fitted out. The results show that the deformation analysis model and numerical simulation method are accurate, and the pneumatic soft-bodied bionic actuator is feasible and effective, which can provide a design method and reference basis for the research and implementation of soft-bodied bionic robot actuator.

中文翻译：

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气动软壳仿生作动器的研制与性能分析

气动仿生执行器的设计源于生物肌肉的结构特征和运动机理，结合硅胶的非线性超弹性，可以提高仿生机器人的移动性和环境适应性。在杨氏硅胶二阶本构模型的基础上，建立了执行器的变形分析模型，并通过数值模拟验证了执行器的结构设计和运动形式的合理性以及变形分析模型的准确性。算法。根据气动软质仿生执行器的物理模型，对执行器的运动和动力特性进行了测试和分析，得出了执行器的运动和动力特性曲线，拟合出了执行器的弯曲角度和驱动力矩的经验公式。结果表明，该变形分析模型和数值模拟方法是准确的，气动仿生执行器是可行和有效的，可为仿生机器人执行器的研究和实现提供设计方法和参考依据。