PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究  

Integrated Polyvinyl Chloride(PVC)Gel Actuating and CNT/PDMS Sensing Structure for Flexible Gripper

作　　者：罗斌 李小兰[1] 徐雪杰 陈花玲 朱子才[2] LUO Bin;LI Xiaolan;XU Xuejie;CHEN Hualing;ZHU Zicai(School of Mechanical and Energy Engineering,Shaoyang University,Shaoyang,Hunan 422000,China;School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]邵阳学院机械与能源工程学院,湖南邵阳422000 [2]西安交通大学机械工程学院,西安710049

出　　处：《西安交通大学学报》2020年第12期30-36,共7页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(91648110);湖南省教育厅优秀青年科学资助项目(19B515);湖南省自然科学基金青年资助项目(2020jj5520)。

摘　　要：鉴于目前关于软体机器人的研究大多仅致力于软活性材料的驱动功能,忽视了传感功能,研究一款集驱动与传感一体化的柔性抓手机器人。首先研究PVC凝胶驱动器结构设计与制备工艺,然后研究CNT/PDMS柔性传感结构的制造工艺,在此基础上,以PVC凝胶驱动器作为柔性抓手的驱动单元,以CNT/PDMS立体结构作为柔性抓手的传感单元,设计出一款具有驱动与传感一体化的功能结构,并对该功能结构进行测试。研究结果表明:在施加800 V直流电压下单根手指的弯曲角度可达32.5°;在400 V直流电压驱动下,由两根柔性手指构成的抓手能够抓取直径为15 mm、邵氏硬度分别为10~20、30~50的易变形的硅橡胶圆柱体;在抓取不同硬度的圆柱体时,CNT/PDMS的电阻变化率亦不同,表明CNT/PDMS柔性传感结构可以感知抓取物体的软硬度,证明了本研究关于驱动及传感一体化结构设计的可行性。该研究可为后续软体机器人的设计及制造提供参考。In view of the research status that most of the current studies in the field of soft robots only focus on the actuating function of soft active materials but ignore the sensing function,an actuating/sensing integrated flexible gripper robot is developed.Exploring the structural design and fabrication process of polyvinyl chloride gel actuator,a manufacturing process of CNT/PDMS flexible sensing structure is then investigated.An actuating/sensing integrated functional structure is designed and manufactured,where the PVC gel actuators are taken as the actuating units and the CNT/PDMS 3D structures as the sensing units.The results show that the bending angle of single finger can reach 32.5 degrees under 800 V DC voltage.Driven by 400 V DC voltage,the gripper consisting of two flexible fingers can grasp deformable silicone rubber cylinders with a diameter of 15 mm and shore hardness of 10-20,30-50 respectively.As grasping the cylinders with different hardness,the resistance change rates of CNT/PDMS demonstrate differently,indicating that the CNT/PDMS flexible sensing structure can sense the softness and hardness of the grasped object,thus verifying the feasibility of the design of actuating/sensing integrated structure proposed in this approach.The results may offer reference for following design and fabrication of the soft robots.

关 键 词：软活性材料 PVC凝胶材料 柔性传感材料 驱动与传感一体化 软体机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP331[自动化与计算机技术—控制科学与工程]