基于仿生学的柔性抓取装置设计  

Design of flexible grasping device based on bionics

作　　者：包海默 郭仲壮 范文 孔巧 张燕 侯舒荣 BAO Hai-mo;GUO Zhong-zhuang;FAN Wen;KONG Qiao;ZHANG Yan;HOU Shu-rong(School of Design,Dalian Minzu University,Dalian 116600)

机构地区：[1]大连民族大学设计学院,辽宁大连116600

出　　处：《机械设计》2023年第1期119-126,共8页Journal of Machine Design

基　　金：辽宁省自然科学基金资助项目(2020-MZLN-01);辽宁省教育厅科学研究经费资助项目(LJKR0016)。

摘　　要：为应对海参需求量的增加,提高捕捞海参机械化程度,对海参抓取装置进行仿生设计。以刺参为抓取目标,提出抓取装置设计要求;将多棘海盘车作为仿生对象,基于系统结构仿生方法进行形态特征提取,并与功能进行耦合,以刺参形态特征为设计变量建立了3腔室、4腔室和5腔室的柔性抓取装置模型;通过有限元软件ABAQUS对手指单元抓取不同规格的刺参进行静力学仿真分析,给出腔室数、刺参尺寸、气压和抓力间的函数关系。结果表明:在满足抓取要求的前提下,4腔室需要的气压值范围为7.68~38.31 kPa, 5腔室需要的气压值范围为7.66~37.47 kPa, 5腔室相比4腔室,最低气压下降0.2%,最高气压下降2.2%。可见,设计的5腔室柔性抓取装置满足设计要求,可为海参柔性抓取装置的设计提供依据。In order to cope with the increase of sea cucumber demand and improve the mechanization of sea cucumber fishing, the bionic design of sea cucumber grasping device was carried out. Stichopus japonicus was taken as the grasping target to propose design requirements of the grasping device. Taking the multi spine sea pan truck as the bionic object, morphological feature extraction and functional coupling were performed based on system structure bionic method. The flexible grasping device models with three, four and five chambers were established with the morphological characteristics of sea cucumber as design variables. Static simulation analyses were performed on finger element in grasping different specifications of Stichopus japonicus using ABAQUS finite element software. The functional relationships between chamber number, stichopus size, air pressure and grasping force were given. The results showed that on the premise of meeting the grasping requirements, the required air pressure range of four chambers was 7.68~38.31 kPa, and the air pressure range of five chambers was 7.66~37.47 kPa. The minimum air pressure of five chambers decreased by 0.2% and the maximum air pressure decreased by 2.2% compared with four chambers. The five chamber flexible gripping device met the design requirements and could provide a basis for the design of sea cucumber flexible gripping device.

关 键 词：产品设计 柔性抓取装置 结构仿生 有限元仿真 多棘海盘车 

分 类 号：TB472[一般工业技术—工业设计]