摘要
硅胶作为气动夹爪的软体材料,其对夹爪的夹持性能有直接影响。采用有限元数值仿真方法对4种常用硅胶材料的气动夹爪进行夹持性能分析,探究Ecoflex 00-30、Ecoflex 00-50、Dragon skin 10和Dragon skin 30材料的影响。通过单轴拉伸试验测定硅胶材料的变形特性;采用不同的本构模型对材料参数进行拟合,判断每种材料最适合的本构模型,并采用拉伸仿真实验验证数值模型的准确性,得到4种硅胶材料的最适本构模型;通过仿真分析,得到充气压力与夹爪弯曲角度和指尖力之间的关系。仿真结果表明:夹爪随着充气压力增加,弯曲角度和指尖力也逐渐变大的关系;在相同气压作用下,Ecoflex 00-30产生的弯曲最大,具有最大的指尖力,而Dragon skin 30弯曲的角度最小,具有最小的指尖力。由此得到了不同力学性能的硅胶材料对软体气动夹爪夹持性能的影响,为后续材料选择提供依据。
As a kind of soft materials for pneumatic gripper, silicone has a direct impact on the clamping performance of the gripper. The finite element numerical simulation method is used to analyze the clamping performance of pneumatic grippers made of 4 kinds of common silicone materials, and the influence of Ecoflex 00-30, Ecoflex 00-50, Dragon skin 10 and Dragon skin 30 is explored. The characteristics of silicone materials are measured by a uniaxial tensile test, and different constitutive models are used to fit the material parameters. The most suitable constitutive model for each material is judged, and the accuracy of the numerical model is verified through a tensile simulation experiment. The most suitable constitutive models for 4 kinds of silicone materials are obtained. Through a simulation analysis, the relationship between inflation pressure, bending angle and fingertip force of the gripper is derived. The simulation results show that the relationship between the bending angle and fingertip force of the gripper gradually increases as the inflation pressure increases. Under the same air pressure, Ecoflex 00-30 has the largest bending angle and fingertip force, while Dragon skin 30 has the smallest bending angle and fingertip force. Thus, the effect of silicone materials with different mechanical properties on the clamping performance of soft pneumatic grippers is obtained, which provides a basis for subsequent selection of materials.
作者
谢业平
李红军
XIE Yeping;LI Hongjun(Faculty of Mechanical Engineering&Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China)
出处
《浙江理工大学学报（自然科学版）》
2021年第3期328-334,共7页
Journal of Zhejiang Sci-Tech University(Natural Sciences)
基金
浙江省基础公益研究计划项目(LGJ21E050001)。
关键词
软体气动夹爪
夹持性能
单轴拉伸
本构模型
仿真
soft pneumatic gripper
clamping performance
uniaxial tension
constitutive model
simulation
