大柔性灵巧手指弯曲仿真研究

Bending simulation research of large flexible dexterous finger

针对传统机器人灵巧手弯曲柔性度不足等问题,提出了一种新型气动柔性弯曲关节—大柔性灵巧手指。为验证大柔性灵巧手指转角静态模型的正确性,首先,将该手指等效为悬臂梁,然后,通过ANSYS仿真软件模拟了手指在不同内腔气压下的弯曲模型,建立了手指弯曲角度与内腔压力的仿真关系曲线,结果显示该仿真关系曲线与手指转角静态模型曲线基本吻合;最后,通过实验研究得到了手指实际弯曲角度与实际内腔压力之间的数据关系,并通过Matlab软件整理仿真与实验数据得出了理论弯曲曲线与实际充放气曲线对比图。研究结果表明,该大柔性灵巧手指转角静态模型是正确的,这可为以后手指的进一步研究奠定一定的理论基础。

Aiming at the problems of traditional dexterous robot hand such as insufficient of flexible bending degree,a new kind of flexible pneumatic bending joint,large flexible dexterous finger was proposed.In order to validate the correctness of large flexible dexterous finger angle curve of static model,firstly,the finger was equivalent to a cantilever beam,finger bending model under different pressure was simulated by ANSYS software,the simulation curve was established between finger bending angle and cavity pressure,which fits in the angle curve of static model.Then the data relationship between actual bending angle and actual cavity pressure from experimental research was obtained,and the contrast curve figure was gotten between theoretical curve and actual curve from sorting data by Matlab software.The results show that it is right of large flexible dexterous finger angle curve of static model,and these lay a theoretical foundation for later research of the finger.