摘要
与传统的刚性手爪相比,柔性手爪使用的机械手指采用轻质、柔软的材料,具有接触灵活、适应性强的特点,可以用来抓取轮廓形状复杂的易碎物体.本文设计并制造了一种具有刚度调节能力的柔性机械手指.柔性手指由内部弯曲致动器和外部变刚度外套构成,并在气动压力的驱动下工作.首先,通过有限元分析的方法对气动弯曲致动器的参数进行了优化;然后,利用RVE代表体元法建立了变刚度外套中纤维介质堵塞现象的分析方法;最后,结合刚度可调外套,展示了柔性手指的变刚度能力,同时,将三根相同的柔性手指组装成柔性手爪,研究发现变刚度外套使得手爪的抓取力增强了两倍以上.本文所提出的柔性手指在柔性机器人领域具有很大的应用潜力.
Compared with traditional rigid grippers,mechanical fingers used by flexible grippers are made of lightweight and soft materials,with flexible contact and strong adaptability,and can be used to grasp fragile objects with complex contours and shapes.We design and fabricate a flexible mechanical finger with stiffness-tunable property in this study.Flexible fingers consist of an internal curved actuator and an external variable stiffness jacket that works under pneumatic pressure.The pneumatic bending brake parameters were optimized using the finite element analysis method.The representative volume element(RVE)method was then used to establish an analysis method for the fiber medium clogging phenomenon in the variable stiffness jacket.Finally,combined with the stiffness-adjustable jacket,we demonstrated the variable stiffness ability of the flexible fingers.Additionally,three identical flexible fingers were assembled into a flexible claw.The result reveals that the variable stiffness jacket increased the claw gripping force by more than twice.Moreover,the proposed flexible fingers have great application potential in the field of flexible robots.
作者
张军诗
张凡
刘磊
刘庚
李鹏飞
朱继宏
张卫红
ZHANG JunShi;ZHANG Fan;LIU Lei;LIU Geng;LI PengFei;ZHU JiHong;ZHANG WeiHong(School of Mechanical Engineering,Northwestern Polytechnical University,Xi'an 710072,China;School of Aeronautics,Northwestern Polytechnical University,Xi'an 710072,China;School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China;Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518063,China;State Key Laboratory of Mechanical Manufacturing System Engineering,Xi'an Jiaotong University,Xi'an 710054,China)
出处
《中国科学：物理学、力学、天文学》
CSCD
北大核心
2024年第6期70-80,共11页
Scientia Sinica Physica,Mechanica & Astronomica
基金
深圳市自然科学基金(编号:JCJY20210324140014039)
机械制造系统工程国家重点实验室开放课题(编号:sklms2021002)资助项目。
关键词
柔性手指
弯曲变形
可变刚度
有限元分析
优化设计
flexible fingers
bending deformation
variable stiffness
finite element analysis
optimized design
