四角粽柔性夹持结构设计与抓取试验研究

Design and experiment of flexible clamping structure for four-corner rice dumplings

针对目前柔性夹爪手指弯曲扰度大,指尖接触性能差,难以实现四角粽指尖性抓取的问题,设计一种增强指尖型柔性夹爪,并采用3D打印和浇铸成型技术制作柔性手指及其固定组件。测定半透明型硅胶(SJ3113)二阶Yeoh模型材料常数并对手指弯曲变形进行有限元仿真预测与试验验证,进行粽子抓取及夹持力测试试验研究。结果表明:柔性手指具有良好的弯曲变形特性,仿真与试验结果基本一致;柔性夹爪气压在60~80 kPa时,夹持力为2.1~3.9 N,此时对粽子的夹持性能最优。该柔性夹爪结构简单且抓取成功率高,在机械手自动化分拣、包装粽子方面具有应用价值。

In order to solve the problem of difficulty in grasping four-corner dumplings due to big bending deflection and poor fingertip contact performance of the flexible gripping fingers,a novel enhanced fingertip type flexible gripper was designed,and 3D printing and casting forming technology were used to fabricate the flexible fingers and the fixing assembly.The material constants of secondorder Yeoh model for translucent silica gel(SJ3113)were determined,and the finger bending deformation was predicted by finite element simulation and verified by experiments.And the experimental research on grasping of rice dumplings and clamping force was also conducted.The results show that the flexible finger has good bending deformation characteristics,and the simulation results are basically consistent with the experimental results;When the air pressure of the flexible gripper is 60~80 kPa and its clamping force is 2.1~3.9 N,the clamping performance of the flexible gripper is the best.The current flexible gripper has the advantages of simple structure and good reliability of grasping,and has application value in automatic sorting and packing of rice dumplings by manipulator.