comsol分析时总位移代表什么_基于COMSOL的气动软体执行器仿真

COMSOL-based simulation of pneumatic soft actuators

Part of this work has been submitted.

Copyright @典同学

气动软体机器人是近年来机械方向的研究热点，本文包含了对一类Origami inspired气动软体人工肌肉OPAM的仿真。

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We created a new kind of pneumatic soft actuators which is called OPAM（Origami Pneumatic Artificial Muscles）.

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FEM SIMULATION

1.Hyperelastic Theory

Most silicone-based elastomers are considered to be hyperelastic. That is, materials that are capable of experiencing large deformations under small loads and then return to their original shape without any significant plastic deformation once that load is removed. Hyperelastic materials, such as solid rubber, are close to ideally elastic. When deformed at a constant temperature or adiabatically, stress is solely a function of the current strain. It is independent of the history or rate of loading The stress-strain behavior of a hyperelastic material is very nonlinear, meaning that the material’s elastic modulus is not enough to characterize its elastic behavior (Figure 1). A constitutive mathematical model is, therefore, necessary to represent the real behavior of a hyperelastic material. ^[1]

Polymers are materials of very high molecular weight and they have considerable commercial importance. The polymer PDMS can be classified as a hyperelastic material, in which the strains may be large. So does the Ecoflex.

非线性弹性力学（机械本科鶸，这块没学过，若有错误，欢迎指正）

PDMS/Ecoflex作为超弹性材料，它们的应力应变曲线应该由应变能密度函数导出。

当一种材料由于外部负载而变形时，它倾向于在其整个体积内部内部存储能量。 该内部能量与材料应变有关，被称为应变能。 考虑处于拉伸状态的物体，其中体积元素呈单向应力状态。

一旦发生位移，该应力在元件的顶面和底面上产生力。 这些力的差值被定义为

其中 是单向应力，而Δ 是长度为Δ 的单元经过垂直