面向软体多指手的指尖接触力学建模  

Modeling of fingertip contact mechanics for soft multi-fingered hand

作　　者：陈凌峰 张亚琪 马小龙 蔡世波 鲍官军[1] Chen Lingfeng;Zhang Yaqi;Ma Xiaolong;Cai Shibo;Bao Guanjun(College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023)

机构地区：[1]浙江工业大学机械工程学院,杭州310023

出　　处：《高技术通讯》2020年第4期391-401,共11页Chinese High Technology Letters

基　　金：国家自然科学基金(51605434,51775499)资助项目。

摘　　要：近年来,软体机器人成为热门的研究方向,使用软材料制造的软体机械手也引起了国内外学者的关注。软体多指手与目标物体的作用机理和数学模型是进行多指灵巧手抓持规划的力学基础。本文以软指尖为研究对象,提出了软指尖和目标物体的正向接触模型,并且使用微积分的方法得出了软指尖和目标物体接触面上的接触力分布、接触摩擦力矩分布等情况,揭示了软指尖和目标物体之间的作用机理。进一步提出更加一般化的软指尖接触静态弹性模型,建立了接触角、变形量以及接触力之间的数学模型。最后,对提出的理论模型进行了有限元仿真和实验验证,证明了理论模型的有效性。In recent years,soft robots have become a hot research direction,and soft robots made of soft materials have attracted the attention of scholars at home and abroad.Due to the lack of grasping planning theory in soft multi-fingered hand,it is difficult to have flexible applications.The mechanism and mathematical model of soft multi-fingered hand and target objects contact are the basis for multi-fingered dexterous hand grasping planning.In this paper,the soft fingertip is taken as the research object,and the normal contact model between the soft fingertip and the target object is proposed.The contact force distribution and the contact friction torque distribution on the contact surface between the soft fingertip and the target object are obtained with the method of calculus,which reveals the mechanism of action between the soft fingertip and the target object.Further,a more general soft fingertip contact static elastic model is proposed,and a mathematical model between the contact angle,the deformation amount and the contact force is established.Finally,the finite element simulation and experiment for the proposed theoretical model are carried out,which proves the validity of the theoretical model.

关 键 词：软指尖 接触力 微积分 有限元仿真 

分 类 号：G63[文化科学—教育学]