仿舌表面结构的机械手爪设计与试验

Design and Experiment of a Gripper With Tongue-inspired Surface Structure

介绍了一种仿生手爪的设计、制作及试验。首先,通过模仿典型动物舌表面丝状乳突结构,采用微米级3D打印技术等加工手段,制备了带有微米级仿生结构的表面材料,并基于该材料,研制了一款仿生手爪样机。搭建了测试平台,对仿生材料及仿生手爪的性能进行了测试,验证了仿生材料的粘附增强效应及其对仿生手爪的性能提升作用。本研究结果将有望用于新型仿生机械手爪研发,以提升其抓取过程中的柔性与自适应性,降低对目标物的损坏,提升抓取效率。

This paper proposes the design,manufacturing,and testing of a bioinspired gripper.Firstly,the structures of microscale filiform papillae of typical animals are studied.Then,bioinspired surfaces with microscale arrays of synthetic papillae are fabricated via Micro-Precision 3D Printers.A bioinspired griper is manufactured based on the surfaces.Testing platforms are established to test the performance of the surfaces and the gripper.The results show that the adhesive forces of the bioinspired surfaces are increased,which consequentially improves the gripping performance of the gripper.This approach has potential in developing novel manipulators with enhanced compliance during gripping,as well as higher efficiency and low damage to the target.