摘要
在分析气动手指屈伸原理的基础上,结合人体手指尺寸数据,设计出多腔气囊式三层结构的软体手指结构;建立了该软体手指制作模具的三维模型并进行3D打印;以液态硅胶为原材料,提出了软体手指的浇注制作步骤;设计并搭建软体手指组的气动控制系统,进行抓握实验,实验结果显示该手指组合可抓起直径不超过64 mm、重量不超过60.8 g的圆柱体,说明提出的软体手指设计方案合理、制作方法可行,为进一步的软体机械手或手指康复训练器研制奠定基础.
On the basis of analyzing the flexion and extension principle of the pneumatic finger and considering the human finger data,the multiple-cavity pneumatic soft finger with three layer structure is designed,and the three dimension model of the mould of the soft-bodied finger is built. By the material of the liquid silicone,the procedure of the casting production of the soft-bodied figure is provided,and the pneumatic control system of the manipulator is designed and set up. The grasping experiment shows that the soft-bodied manipulator can pick up the cylinder with the diameter no more than 64 mm and the weight no more than 60. 8 g. The results illustrate that the scheme of the soft-bodied manipulator is reasonable,and the production method is feasible,which lay the foundations for the multi functional soft-bodied manipulator or the finger rehabilitation trainer.
作者
鞠尔男
武力
冯铭龙
JU Erman;WU Li;FENG Minglong(Department of Electronic Engineering,Dalian Neusoft Information Institute,Dalian 116028,China;Engineering,Dalian Jiaotong University,Dalian 116028,China)
出处
《大连交通大学学报》
CAS
2018年第4期63-66,共4页
Journal of Dalian Jiaotong University
基金
辽宁省教育厅科学研究计划资助项目(JDL2017026)
关键词
软体
手指
硅胶
气动
soft-bodied
finger
silicone
pneumatic
