气动柔性抓手手指可调节弯曲性能研究

Study on the adjustable bending performance of pneumatic soft gripper finger

针对当前柔性手指弯曲区域不可控的问题,利用拉伸性能较好的硅橡胶材料Ecoflex 00-50封装网格状的热塑性聚氨酯材料(TPU),制备了一种新型可控拉伸弹性体来控制气动手指的弯曲运动。通过分区域加热的方式对气动手指内封装的网格状TPU加热,能够改变可拉伸区域以实现手指的弯曲区域可调节,进而控制手指的弯曲程度,实现手指50°和145°的弯曲。

In order to solve the problem of uncontrollable flexion area of flexible fingers,it uses mesh-like thermoplastic polyurethane(TPU)encapsulated by Ecoflex 00-50 silicone rubber material with good tensile properties to prepare a new type of controllable stretchable elastomer and to control the flexion movement of pneumatic fingers.By heating the gridded TPU encapsulated in the pneumatic finger with the method of zonal heating,the stretchable area can be changed to realize the adjustable bending area of the finger,and then the bending degree of the finger can be controlled,and the finger can be bent at 50°and 145°.