基于柔性仿生手指的织物压缩性能表征

Characterization of Fabric Compression Performance Based on Flexible Bionic Finger

为了实现仿手指柔性压缩织物,解决现有织物风格评价工具多为刚性设备的问题,基于柔性软体机器人以及3D打印技术,模仿人手与织物接触受力情况,构建了单根柔性硅胶仿生手指与固定装置构成的柔性仿生手指,采用3D打印模具并浇注硅胶的方式制作出柔性手指,同时装配3D打印制成的固定装置。夹具采用气压驱动方式对织物进行接触力作用,实现对织物压缩性能表征。通过选对9块不同类型的织物进行压缩性能试验并与现有压缩仪对比,测试结果表明夹具能够稳定对织物产生接触力,对织物表面无损伤,测试结果可行。

In order to realize finger-like flexible compression fabric and solve the problem that most existing fabric style evaluation tools are rigid devices, based on flexible soft robots and 3D printing technology, a flexible bionic finger consisting of a single flexible silicone bionic finger and a fixed device was constructed to simulate the contact force between human hand and fabric. The flexible finger was fabricated by 3D printing mold and silica gel. At the same time, the fixed device made of 3D printing was assembled. The fixture used a pneumatic drive to carry out contact force on the fabric to conduct compression performance characterization. The compression performance of nine different types of fabrics were tested and compared with the existing compressors. The test results showed that the fixture could produce contact force on the fabrics stably without surface damage, and the test results were feasible.