变结构气动软体机械手的设计及试验研究  

Design and Experimental Research of Variable Structure Pneumatic Soft Manipulator

作　　者：付敏[1] 王成梦 郝镒林 高泽飞 陈效庆 FU Min;WANG Chengmeng;HAO Yilin;GAO Zefei;CHEN Xiaoqing(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《机床与液压》2023年第13期7-13,26,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51975114)。

摘　　要：针对软体机械手抓取稳定性差等问题,设计一种由转换机构和软体手指等组成的变结构气动软体三指机械手。机械手可实现4种抓取模式,通过转换机构的结构变换改变软体手指的工作空间,使其处于最佳抓取位置。建立手指的单腔室弯曲数学模型以得出充气压力和弯曲角度的关系,采用有限元法分析各参数对腔室弯曲角度的影响,并对腔室结构进行优化;通过充气弯曲试验,验证了软体手指的良好性能;通过软体手指输出力测试获取输入气压和输出力的关系。制作样机并对8种物体进行抓取试验,结果表明:该机械手抓取稳定,能够实现对0~320 g范围内各种不规则及软硬度不同物体的无损抓取。Aiming at the problem of poor grasping stability of soft manipulator,a variable structure pneumatic soft three-finger manipulator consisted of a switching mechanism and soft fingers was designed.The manipulator could realize four grasping modes,and the working space of the soft finger could be changed by transforming the structure of the mechanism,making it in the best grasping position.A mathematical model of finger single chamber bending was established to obtain the relationship between inflation pressure and bending angle.The influence of various parameters on the bending angle was analyzed by finite element method,and the structure of the chamber was optimized.The good performance of soft finger was verified by inflatable bending test.The relationship between the input pressure and the output force was obtained by the soft finger output force test.The prototype was made and eight kinds of objects were grasped by experiments.The results show that the manipulator is stable and can realize the non-destructive grasp of various irregular objects and objects with different hardness and softness in the range of 0~320 g.

关 键 词：软体机械手 气动 变结构 抓取 

分 类 号：TH138.5[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]