一种可变直径软体机器人的设计

Design of a Variable Diameter Soft Robot

为了解决刚性机械手安全性低、适应性差的问题,设计了一款具有抓取功能的软体机器人。该软体机器人由三个呈圆周120°分布的软体驱动器和一个夹具组成,夹具可以实现自动化改变直径以适应不同大小物体的抓取,经测算软体机器人可以抓取直径范围为45~97 mm的物体。夹具和软体驱动器都采用3D打印制造,具有成本低、制造简单、易于大规模生产的优点。软体机器人采用气压驱动,当给驱动器充气时,三手指同时弯曲抓取物体,具有很好的稳定性。对于软体驱动器建立了相应的力学模型,得到了弯曲角度与输入气压的关系,并利用ABAQUS有限元仿真软件对驱动器弯曲特性进行仿真。对比发现,理论建模和仿真分析在驱动器弯曲角度具有很高的吻合性。

To solve the problem of low safety and poor adaptability of rigid robots,design a soft robot with grasping function,a soft robot with grasping function was designed.The soft robot consists of three soft body actuators distributed at 120 degrees around the circumference and a fixture,which can change the diameter automatically to adapt to the grasping of objects of different sizes,and it is measured that the soft robot can grasp objects with a diameter range of 45~97 mm.Both the fixture and the soft actuator are manufactured by 3D printing,which has the advantages of low cost,simple manufacturing,and easy mass production.The soft robot is driven by pneumatic pressure,and when the actuator is inflated,three fingers bend simultaneously to grasp the object with good stability.The corresponding mechanical model was established for the soft body actuator,and the relationship between the bending angle and the input air pressure was obtained,and the bending characteristics of the actuator were simulated by using ABAQUS finite element simulation software.In comparison,it is found that the theoretical modeling and simulation analysis have a high agreement in the bending angle of the actuator.