气动柔性抓手手指可调节弯曲性能研究  

Study on the adjustable bending performance of pneumatic soft gripper finger

作　　者：赵晓东[1] 黎相孟 康政[1] 申剑 Zhao Xiaodong;Li Xiangmeng;Kang Zheng;Shen Jian(Shanxi Provincial Key Laboratory of Advanced Manufacturing Technology,North University of China,Shanxi Taiyuan,030051,China;State Key Laboratory for Manufacturing Systems Engineering,Xi'an Jiaotong University,Shaanxi Xi'an,710054,China)

机构地区：[1]中北大学先进制造技术山西省重点实验室,山西太原030051 [2]西安交通大学机械制造系统工程国家重点实验室,陕西西安710054

出　　处：《机械设计与制造工程》2023年第3期39-42,共4页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51705479);山西省基础研究计划资助项目(20210302123013)。

摘　　要：针对当前柔性手指弯曲区域不可控的问题,利用拉伸性能较好的硅橡胶材料Ecoflex 00-50封装网格状的热塑性聚氨酯材料(TPU),制备了一种新型可控拉伸弹性体来控制气动手指的弯曲运动。通过分区域加热的方式对气动手指内封装的网格状TPU加热,能够改变可拉伸区域以实现手指的弯曲区域可调节,进而控制手指的弯曲程度,实现手指50°和145°的弯曲。In order to solve the problem of uncontrollable flexion area of flexible fingers,it uses mesh-like thermoplastic polyurethane(TPU)encapsulated by Ecoflex 00-50 silicone rubber material with good tensile properties to prepare a new type of controllable stretchable elastomer and to control the flexion movement of pneumatic fingers.By heating the gridded TPU encapsulated in the pneumatic finger with the method of zonal heating,the stretchable area can be changed to realize the adjustable bending area of the finger,and then the bending degree of the finger can be controlled,and the finger can be bent at 50°and 145°.

关 键 词：柔性抓手 可调节 热塑性聚氨酯材料 

分 类 号：TH165.1[机械工程—机械制造及自动化]