仿舌表面结构的机械手爪设计与试验  

Design and Experiment of a Gripper With Tongue-inspired Surface Structure

作　　者：张雨峰 王琨 吴晅[2] 程博 万年辉 吕自贵 ZHANG Yufeng;WANG Kun;WU Xuan;CHENG bo;WAN Nianhui;LÜZigui(School of Mechanical Engineering,Jiangnan University,Wuxi JiangSu 214122,China;Institute of Intelligent Machines,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou Jiangsu 213164,China;CNOOC CHINA LIMITED-SHENZHEN,Shengzhen Guangdong 518054,China;Jiangsu Jicui Intelligent Manufacturing Technology Research Institute,Co.,Ltd.Nanjing 211800,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]中国科学院合肥物质科学研究院智能机械研究所,江苏常州213164 [3]中海石油(中国)有限公司深圳分公司,广东深圳518054 [4]江苏集萃智能制造技术研究所有限公司,南京211800

出　　处：《机械设计与研究》2022年第3期70-74,共5页Machine Design And Research

基　　金：江苏省产业前瞻与关键核心技术重点项目(BE2020006-5)。

摘　　要：介绍了一种仿生手爪的设计、制作及试验。首先,通过模仿典型动物舌表面丝状乳突结构,采用微米级3D打印技术等加工手段,制备了带有微米级仿生结构的表面材料,并基于该材料,研制了一款仿生手爪样机。搭建了测试平台,对仿生材料及仿生手爪的性能进行了测试,验证了仿生材料的粘附增强效应及其对仿生手爪的性能提升作用。本研究结果将有望用于新型仿生机械手爪研发,以提升其抓取过程中的柔性与自适应性,降低对目标物的损坏,提升抓取效率。This paper proposes the design,manufacturing,and testing of a bioinspired gripper.Firstly,the structures of microscale filiform papillae of typical animals are studied.Then,bioinspired surfaces with microscale arrays of synthetic papillae are fabricated via Micro-Precision 3D Printers.A bioinspired griper is manufactured based on the surfaces.Testing platforms are established to test the performance of the surfaces and the gripper.The results show that the adhesive forces of the bioinspired surfaces are increased,which consequentially improves the gripping performance of the gripper.This approach has potential in developing novel manipulators with enhanced compliance during gripping,as well as higher efficiency and low damage to the target.

关 键 词：仿生手爪 仿生微结构 粘附 抓取 

分 类 号：TH122[机械工程—机械设计及理论]