基于鳍条效应的仿生机械手设计

Design of the bionic robotic gripper based on fin-ray effect

现阶段的机械手常常存在抓取物体单一、自身结构复杂等特点,因而运用场景受到限制。鳍条效应指的是当V形鱼鳍结构侧面受到力时,鱼鳍侧面发生被动变形,且鱼鳍结构尖端指向受力方向的一种现象。该研究基于鳍条效应仿生原理,使用三维建模软件设计了一款柔性仿生机械手,并完成了多种材料的受力分析对比。该机械手利用柔性材料对目标物体进行柔性抓取,实现了对大多数生活物体的取放,所占空间较小,给人们的生活带来便利。

At present, manipulators often have limitations that they are subject to specific grasping and complex structure, so the application field is restricted. The fin-ray effect refers to a phenomenon in which the side of a V-shaped fin structure is passively deformed under stress and the tip of the fin structure points to the direction of force when the side of the fin structure is subjected to force. This study based on the principle of the bionic fin-ray effect, a flexible bionic robot is designed with the help of the 3 D modeling software and the stress analysis is conducted on a variety of materials. By means of these flexible materials, flexible grasping of target objects is realized within small space, so that it brings convenience to our life.