仿鸟喙微型气动软体机械手爪的设计及优化

Design and Optimization of Micro Pneumatic Soft Manipulator Gripper Imitating Bird′s Beak

为实现微型易碎、不规则物体的稳定抓取,结合软体材料的柔顺性和鸟喙结构抓取的准确性,提出一种仿鸟喙微型气动软体机械手爪,该机械手爪不仅具有一般软体手爪良好的环境适应性,而且结构更加简洁,对微型物体尤其适用。利用Yeoh本构模型和Ansys软件,对手爪的弯曲特性做了有限元仿真,并根据仿真结果进行变壁厚和局部填充的优化。对优化后的手爪进行了弯曲特性、抓取力测试试验和适应性试验,验证了仿鸟喙微型气动软体机械手爪的可行性。

In order to realize the stable grasp of micro fragile and irregular objects,combined with the flexibility of soft materials and the accuracy of beak structure grasping,a bionic beak micro pneumatic soft mechanical gripper is proposed and designed.The mechanical gripper not only has good environmental adaptability of general soft gripper,but also has more concise structure and is especially suitable for grasping micro objects.Using Yeoh constitutive model and ANSYS software,the bending characteristics of the bionic gripper are simulated by finite element method,and the optimization of variable wall thickness and local filling is carried out according to the simulation results.The bending characteristics,grasping force and adaptability of the optimized bionic gripper were tested,and the feasibility of the bionic beak micro pneumatic soft mechanical gripper was verified.