摘要
由柔性材料制成的末端软体夹持器依靠结构本身的弹性变形实现对物体的无损抓持,具有自由度高、适应性强的特性,在非结构化环境中具有广阔的应用前景。目前,多数软体夹持器功能单一,适应性差,难以实现对各种形状、尺寸物体的通用抓取。为解决这一问题,通过分析形状尺寸各异物体对软体夹持器结构及性能的要求,结合现有夹持器的优点,设计出一种中间部位能抓取体积较大目标、尖端部位可精确夹持细微物体的通用型气动软体夹持器。基于Yeoh模型建立夹持器变形角度与压力关系数学模型,使用ABAQUS软件对其进行正压和负压仿真,分析出夹持器的弯曲变形情况,得到其极限气压。通过实物的变形实验,得到仿真结果和实验结果相对误差为9.10%,验证了仿真的有效性和变形角度与压力关系数学模型的准确性。
The end soft gripper made of flexible material realizes the nondestructive grasping of the object by relying on the elastic deformation of the structure itself.It has the characteristics of high degree of freedom and strong adaptability,and has broad application prospects in unstructured environment.However,at present,most developed software grippers have single function and poor adaptability,which is difficult to grasp objects of various shapes and sizes.In order to solve this problem,by analyzing the requirements of objects with different shapes and sizes on the structure and performance of the software gripper,combined with the advantages of the existing gripper,a general pneumatic soft body gripper is designed,which can grasp large targets in the middle and accurately hold fine objects at the tip.The mathematical model of the relationship between the deformation angle and pressure of the gripper is established based on Yeoh model.The positive pressure and negative pressure are simulated by ABAQUS software,the bending deformation of the gripper is analyzed,and its limit air pressure is obtained.Through the deformation experiment of the real object,the relative error between the simulation results and the experimental results is 9.10%,which verifies the effectiveness of the simulation and the accuracy of the mathematical model of the relationship between deformation angle and pressure.
作者
张耀耀
刘胜
徐青瑜
霍前俊
张远飞
李旭
ZHANG Yao-yao;LIU Sheng;XU Qing-yu;HUO Qian-jun;ZHANG Yuan-fei;LI Xu(School of Mechanical and Automotive Engineering, Shanghai University of Engeering Science, Shanghai 201620)
出处
《液压与气动》
北大核心
2021年第12期51-57,共7页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金青年基金(11604205)。
