基于多腔软体驱动器的柔性手指设计

Design of flexible finger based on multi-cavity soft driver

针对现有软体柔性手指运动自由度少的问题,设计了一款基于气动多腔软体驱动器的柔性手指。基于软体动物的运动特征,对多腔软体驱动器的结构进行了设计;根据虚功原理,建立了软体驱动器的力学模型和柔性手指的位姿方程;利用Abaqus CAE有限元仿真软件对柔性手指进行了力学仿真,得到了柔性手指偏转角度与输入气压的关系曲线;以单向转动软体驱动器为研究对象,通过输入特定气压值来分析其偏转角度与输入气压的关系,并对比了偏转角度—输入气压关系曲线的理论计算、仿真分析和试验结果的差异。试验结果显示,在偏转角度为0°~80°时,单向转动软体驱动器理论计算、仿真分析与实际测得的偏转角度—输入气压曲线的变化趋势基本一致。研究表明,所建立的单向转动软体驱动器力学模型能够较为准确地描述驱动器偏转角度的变化,所建立的手指位姿方程能够根据各关节的偏转角度求得手指各个节点的空间坐标,为手指的运动控制提供了基础。

A flexible finger based on pneumatic multi-cavity soft driver was designed to solve the problem of the existing soft flexible finger with less freedom of movement.Based on the motion characteristics of mollusk,the structure of multi-cavity soft driver was designed.According to the principle of virtual work,the mechanical model of the soft driver and the pose equation of the flexible finger were established.By using Abaqus CAE finite element simulation software,the relationship curve between the deflection angle of the flexible finger and the input air pressure was obtained.Taking single direction rotary soft driver as the experimental object,the relationship between deflection angle and input air pressure was analyzed by inputting a specific air pressure value,and the difference of theoretical calculation,simulation analysis and test results of deflection angle-input air pressure relation curve was compared.The experimental results showed that when the deflection angle was 0°-80°,the theoretical calculation and simulation analysis were basically consistent with the test results of variation trend of the deflection angle-input air pressure curve.The research showed that the established mechanical model of the single direction rotary soft drivercan describe the variation of the deflection angle of the driver more accurately,and the established finger pose equation can obtain the spatial coordinates of each finger node according to the deflection angle of each joint,which provides a foundation for the motion control of the finger.