摘要
为解决传统刚性夹爪刚度大、安全性差以及适用范围受限的问题,课题组提出了一种轻韧型主动包络软体夹爪。夹爪由固定平台和3根软体手爪组成。参考人的手指尺寸和抓取物品时手掌的作用,设计了手爪的尺寸;软体手爪由传统的硅胶沉积浇筑、3D打印等技术加工和制作而成,采用气动驱动方式;基于Yeoh模型对设计的软体手爪的形变进行有限元仿真分析;最后对设计制作的轻韧型主动包络软体手爪进行弯曲和抓取性能测试。实验结果显示:单根软体手爪能够在气压驱动下达到空间内预定的弯曲角度,在60 kPa时手爪达到形变极限位置,指尖接触力为1.12 N。抓取实验结果表明轻韧型主动包络软体夹爪具有良好的包络和承载能力,不仅对规则的刚性物体有好的抓取效果,对不规则物体和质地较为柔软的物品同样有良好的抓持效果。
To address the issues of high stiffness,poor safety,and limited applicability of traditional rigid grippers,a lightweight and tough active enveloping soft gripper was proposed.The gripper consists of a fixed platform and three soft fingers.The dimensions of fingers were designed with reference to the actual size of a human fingers and the function of the palm when grasping objects.The soft gripper was processed and produces by traditional silicone deposition casting,3D printing and other techniques,and pneumatic driven was adopted.Finite element analysis based on the Yeoh model was carried out to simulate and analyze the deformation of the designed soft gripper.Finally,bending and grasping performance of the lightweight and tough active enveloping soft gripper was tested.Experimental results indicate that each individual soft finger can achieve the predetermined bending angle within a confined space under pneumatic pressure.At 60 kPa pressure,the fingers reach the maximum deformation limit position with a fingertip contact force of 1.12 N.Grasping experiments demonstrate that the lightweight and flexible active enveloping soft gripper exhibits excellent enveloping and bearing capabilities.It not only performs well in gripping regular rigid objects but also exhibits effective grasping for irregular objects and soft objects.
作者
牛思旗
陈永当
王欣豪
胡师源
封莹莹
张娅婕
NIU Siqi;CHEN Yongdang;WANG Xinhao;HU Shiyuan;FENG Yingying;ZHANG Yajie(School of Mechanical and Electrical Engineering,Xi′an Polytechnic University,Xi′an 710699,China)
出处
《轻工机械》
CAS
2024年第1期36-42,共7页
Light Industry Machinery
