基于骨架的气动软体仿人手指制造与实验探究

Fabrication and Experimental Research of Pneumatic Soft Humanoid Finger Based on Skeleton

针对软体机械手指存在弯曲角度小或抓取长度不可变等问题,设计出一种新颖的骨架软体仿人手指。该手指通过在驱动器内部嵌入伸缩骨架并在骨架上设置气道,解决了驱动器伸长时需要保持高刚度和气管连接处气密性薄弱的问题。嵌入刚性骨架并没有破坏软体仿人手指的柔顺性,反而提高了手指的刚度和弯曲位置的控制精度。文中介绍了基于骨架的气动软体仿人手指的详细制备过程并对制备好的手指进行了弯曲、伸长、指尖压力和抓取等实验。实验结果表明,该仿人手指在抓取领域具有良好的应用前景。

Aiming at the problems such as small bending angle or unchangeable grasping length of soft mechanical fingers,a novel skeleton soft human-like finger is designed.By embedding a telescopic skeleton inside the driver and providing an airway on the finger skeleton,this paper solves the problem of maintaining high stiffness and weak air tightness at the gas pipe connection when the driver is extended.Embedding the rigid skeleton does not damage the flexibility of the soft humanoid finger,but rather improves the stiffness of the finger and the control accuracy of the bending position.In this paper,the detailed preparation process of pneumatic soft humanoid finger based on skeleton is introduced and the experiments of bending,elongation,fingertip pressure and grasping of the prepared finger are carried out.The experimental results show that the humanoid finger has a good application prospect in grasping field.