多抓取模式线驱变刚度软体机械手研究  

Research on Tendon-driven Variable Stiffness Soft 4Manipulator with Multi-grasp Mode

作　　者：沈峰[1] 胡慧娟 SHEN Feng;HU Huijuan

机构地区：[1]上海大学机电工程与自动化学院

出　　处：《计量与测试技术》2022年第11期70-73,共4页Metrology & Measurement Technique

摘　　要：本文设计了一种由人手指结构启发的多抓取模式线驱变刚度软体机械手,通过改变关节刚度调整手指的抓取模式,以抓取不同形状和重量的物体,并对手指运动学模型及变刚度机理进行分析,实验结果表明,手指弹簧长度调节后刚度可提升2.5倍,显著提高了对物体的夹持力。该变刚度软体机械手具有包络抓取和指节抓取模式,可灵活抓取矩形、圆形及三角形等不同形状物体。In this paper, a variable stiffness soft manipulator was designed which inspired by the structure of human finger.The grab mode of the soft finger could be adjusted by changing the joint stiffness to grasp objects with different shapes and weight.The finger kinematics model and variable stiffness mechanism were analyzed.Experimental results have shown that the stiffness can be increased by 2.5 times after the finger springs stretched, and the clamping force on the object was significantly improved.The variable stiffness soft manipulator can grasp rectangles, circles and triangles objects flexibly applying two grasp modes of envelope grasp and knuckle grasp.

关 键 词：线驱 软体机械手 变刚度 多抓取模式 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]