基于骨架的气动软体仿人手指设计与仿真分析

Design and Simulation Analysis of Pneumatic Human Finger Based on Skeleton

针对现有的软体机械手手指存在弯曲形态单一、运动范围小等缺点,设计了一款基于骨架的气动软体仿人手指。该手指由3个弯曲驱动器和2个伸长驱动器的交叉组合而成,既能通过弯曲驱动器灵活地实现复杂弯曲动作,又能通过伸长驱动器控制运动范围。文中通过对基于骨架的气动软体仿人手指结构进行设计,使用Abaqus仿真软件对弯曲驱动器和伸长驱动器进行有限元仿真分析,得到2种软体驱动器在不同参数下的气压-位移变化曲线。根据仿真结果可以得到最佳结构参数,同时说明该软体仿人手指的设计具有可行性。

Aiming at the shortcomings of the existing soft manipulator fingers,such as single bending shape and small range of motion,a skeleton-based pneumatic soft humanoid finger is designed.This finger is different from the continuous bending soft finger controlled by an air cavity.It is composed of three bending actuators and two extension actuators.It can flexibly realize complex bending action through the bending actuator and control the range of motion through the extension actuator.Just as the same person's phalanx supports the human hand,the rigid skeleton is added to the design of the soft humanoid finger to support and constrain the extension actuator,so that the extension actuator can maintain high stiffness and restrain bending deformation.Through the design of the skeleton based pneumatic soft finger structure,the finite element simulation analysis of the bending actuator and the elongation actuator is carried out by using Abaqus simulation software,and the pressure displacement curves of the two kinds of soft actuators under different parameters are obtained.According to the simulation results,the best structure parameters can be obtained,and the feasibility of the design of this anthropomorphic finger is proved.