基于折纸结构的收纳式软体抓手设计与试验

Origami-based Soft Gripper with High Folding-unfolding Ratio:Theory and Experiment Analysis

现有气动软体抓手的运动范围大多受初始长度限制,难以实现小存储体积、大包络范围的设计目标。结合气动结构和折纸结构的特点,提出了一种高收纳比、弯曲-展开耦合运动的软体抓手设计方案。基于三浦折纸结构,设计了一种可弯曲折展的管状折纸模型,并且基于面板刚性假定,分析了边长、夹角等几何参数对该折纸结构曲率半径和弯曲角度的影响;考虑软体抓手的壁厚,利用有限元软件分析了软体抓手的变形行为;采用3D打印和逐层浇筑的方式制作抓手样品,验证了软体抓手的展开和抓取性能。该研究成果可为太空垃圾抓取机器人的设计提供理论支持。

The motion range of existing pneumatic soft grippers is mostly limited by their initial lengths,which is difficult to achieve the design goal of a small storage volume but large envelope range.Using modified Miura origami and pneumatic actuator,a soft gripper with a high folding-unfolding ratio is designed.Firstly,based on the Miura origami,a tube origami structure having a couple motion between bending and unfolding is designed.Under the assumption of rigid panels,the effect of geometric parameters,i.e.,side length and included angle,on the curvature radius and bending angle of the model is analyzed.Secondly,finite element analysis is used to investigate the deformation of the origami soft gripper with finite-size-thickness panels.Finally,3D printing and layer by layer pouring are used to make a real gripper,which verified the folding performance and grasping performance of the soft gripper.This work is expected to provide theoretical supports for the design of space garbage grabbing robots.