Abaqus 气动软体抓手机器人有限元仿真

Abaqus 气动软体抓手机器人有限元仿真

Ⅰ. Freely beding

1. Set Work Directory

2. Import Part

3. Materials

• Paper

1. General > Density:
   Density = 750 Kg/m³ → 750e-12 (Mg/mm³)
2. Mechanical > Elasticity> Elastic:
   Young’s Modulus = 6.5 GPa → 6500 (MPa)
   Poisson’s ratio = 0.2
   

• gripper-silicone

1. General > Density:
   Density = 1050 Kg/m³ → 1050e-12 (Mg/mm³)
2. Mechanical > Hyperelastic > Uniaxial Test Data > Read from file > Yeoh model
   
   Evaluate Material -> Coefficients
   
   

4. Section assignment

• Creat section

1. Solid silicone
   
2. Shell paper (图中 material 分配错误而报错，应为 paper)
   

• Silicone part section assign
  
  

5. Creat surfaces and sections

1. Inner surface
   
2. Edge section for contact setting
   
3. Paper surface
   

6. Assemble and merge

1. Creat instance
   
2. Creat constraint (face to face)
   
3. Merge
   

7. Create inextensible layer

1. Creat skin
   
2. Paper section assignment
   
   

8. Creat step and load

1. Creat step-G and step-P
   
   
2. Creat boundary condiiton and loads (G and P)
   
   

9. Add contact interaction ★

1. Creat interaction properties
   

stiffness scale factor 可缩小来提高收敛性（但是结果好像区别不大）

2. Creat self-contact
   
   

3. Creat node(edge) to surface contact
   

4. Step-G contact
   
   
   

（实际计算时，step-G不收敛，压缩该步，重力影响可是加到Step-P上进行计算）

10. Mesh

1. Mesh control
   
2. Mesh seed (part and edge)
   
   

seed constraints 如图设置可提高收敛性。

3. Mesh part
   

4. Element type (part and paper layer)
   
   

11. output setting

12. Creat job and submit

13. Results

• Creat XY data – ODB field output – U: Spatial displacement (U2 & U3) – Unique Nodal – Select the tip nodal – Plot

• Report – XY – Select data – Save

参考：

https://softroboticstoolkit.com/book/pneunets-modeling

Normal behavior：https://www.bilibili.com/video/BV12P4y1W7td?p=2 25:10
node(edge) to surface : https://www.bilibili.com/video/BV12P4y1W7td?p=4 29:00、56:10

Ⅱ. Blocking force

1. Part

导入长方体模型(10* 40 *50)

2. Material

Steel
杨氏模量：200000
泊松比：0.3

3. Setction assignment

赋予结构材料特性，同时创建一个set，指向接触边线；

4. Assembly

加入Instance实例，并调整位置

5. Step and load

创建充气分析步，打开大变形计算，设置步长等；
设置施加载荷的大小；
同时设置固定边界条件：执行器末端和长方体底部。

6. contact

在Ⅰ的基础上，设置执行器和长方体的面面接触；

7. Mesh

对长方体进行网格划分

8. Output

Field output – CFORCE, Contact force

9. Job and submit

10. Results

• Creat XY data – ODB field output – CNORMF: CNF3 – Unique Nodal – Select the tip nodal – Plot

1. 选择输出数据类型：
   
2. 选择Unique Nodal 才能选择边线
   
3. 选择边线，然后Plot
   
   或者
   

• Report – XY – Select data – Save