多自由度分段式柔性夹爪设计

M-DOF Segmented Flexible Gripper Design

针对柔性夹爪抓取模式较为单一而难以适应复杂工况的问题,课题组提出一种具有多自由度的分段式柔性夹爪。该夹爪由3个具有多个独立气室的柔性手指组成,每个柔性手指采用前端单气室与后端双气室结合的分段式结构;基于2阶Yeoh模型建立数学模型并进行仿真;利用3D打印技术制作了夹爪实物,并基于所设计的多通路控制系统完成了抓取及外界交互实验。结果表明:该夹爪能够实现适应性抓取以及旋拧、捏取等较为复杂的人手动作,具有多功能性和较强的适应性。

Aiming at the problem that flexible gripper grasping mode is relatively single and difficult to adapt to complex working conditions,the research group proposed a segmented flexible gripper with multiple degrees of freedom.The gripper was composed of three flexible fingers equipped with multiple independent air chambers.Each flexible finger adopted a segmented structure consisting of a front single air chamber and rear double air chambers.The mathematical model based on second-order Yeoh model was established and simulated.Subsequently,3D printing technology was used to produce the gripper object,followed by comprehensive grasping and external interaction experiments conducted using the designed multi-path control system.The results demonstrate that the gripper can effectively execute adaptive grasping as well as intricate hand movements such as screwing and pinching,underscoring its versatility and strong adaptability.