一种通用型负压软体机械手的设计与分析

Design and Analysis of a Universal Negative Pressure Soft Manipulator

由柔性材料制成的软体机械手不仅可以提高人机交互的安全性,而且对抓取对象也有一定的保护作用。设计了一种基于低成本3D打印技术的通用型负压软体机械手,该机械手主要由软体驱动器、手指和吸盘组成。软体驱动器提供动力,手指和吸盘用于抓取,且手指和吸盘既能独立又能组合工作。软体驱动器采用波纹管结构,并通过有限元仿真分析了不同结构参数对其收缩性能的影响。经过实验测试,在-0.05 MPa气压下,软体驱动器最大末端驱动力为22.53 N,最大收缩量为36.72 mm,软体机械手最大指尖力为4.86 N。实物抓取试验结果表明,该机械手能够抓取0~300 g范围内不同大小、形状和纹理的物体。

The soft manipulator made of flexible materials can not only improve the safety of human-machine interaction,but also protect the grasping objects.A universal negative pressure soft manipulator based on low-cost 3D printing technology is designed.The manipulator is mainly composed of soft actuator,finger and vacuum pad.Soft actuator provides power,fingers and vacuum pad are used for grabbing.The fingers and vacuum pad can work independently and in combination.The soft actuator adopts bellows structure,and the influence of different structural parameters on the shrinkage performance is analyzed through finite element method.The maximum end driving force of the soft actuator is 22.53 N,the maximum shrinkage is 36.72 mm,and the maximum fingertip force of the soft manipulator is 4.86 N.The experimental results show that the manipulator can grasp objects with different sizes,shapes and textures in the range of 0~300 g.