Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction o...Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff counterparts.Previously simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation behaviors.To address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft grip-per.Moreover,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact forces.The proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.展开更多
基金supported by Natural Science Foundation of Zhejiang Province (Grant No.LQ22A020003)National Natural Science Foundation of China (Grant No.52075499)for which all authors are grateful.
文摘Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff counterparts.Previously simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation behaviors.To address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft grip-per.Moreover,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact forces.The proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.
