旨在研制一种轻质、小型的多输出逻辑控制阀, 以简化气动软体机器人的外部驱动系统; 也可作为组件嵌入机器人本体, 替代传统的大尺寸和大质量的控制阀, 以减少驱动管道的数量以及外部驱动系统的体积和重量. 建立了弹力带预紧力与阀的临界导通气压间的关系模型, 并通过实验与仿真进行了验证. 通过典型的气动管道软体机器人应用实验, 展示了轻量化多输出逻辑控制阀在简化机器人驱动系统方面的性能优势.

The aim of this study was to simplify the driving system of pneumatic soft robots by developing a lightweight, small, and highly integrated multiple-output logic control valve. In addition, it could be embedded into the robot body as a component, thereby replacing the traditional large and heavy control valves and reducing the number of driving pipes as well as the volume and weight of external driving systems. The relationship be-tween the pre-tightening force of the elastic band and the critical conduction air pressure of the valve was derived, and the model was verified experimentally. Through an application experiment on a typical pneumatic software pipeline robot, the performance advantages of the proposed lightweight multi-output logic control valve for simplifying the driving system of the robot were demonstrated.