一种力增强型软体抓取器的设计  

Design of a force-enhanced soft gripper

作　　者：赵玉侠 万学锋 周俊成 钮乾坤 ZHAO Yuxia;WAN Xuefeng;ZHOU Juncheng;NIU Qiankun(School of Mechanical and Materials Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100144

出　　处：《重庆理工大学学报（自然科学）》2023年第8期119-127,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51775002);北京市教育科学“十四五”规划课题(CDDB21173)。

摘　　要：随着软体抓取器的研究不断深入,提高其承载能力一直是亟待解决的问题。为此提出一种简单实用的方案,即在软体驱动器的指尖处嵌入磁铁片,通过抓取器指尖之间的磁力增加抓取力。介绍了软体抓取器的结构设计及其制作方法;进行了抓取的力学建模,尤其对指尖贴合时的拉力建模进行了详细分析,得到了理论承载力的大小;对抓取器模型进行了有限元仿真,分析了气压大小与承载力的关系;对理论建模和有限元仿真分析的结果进行对比,二者承载力较无磁铁片嵌入的抓取器分别增加了20.72 N与16.34 N,表明该方案是可行的。该方案为开发出高载荷的软体抓取器提供了新的设计思路。As the research of soft gripper continues,increasing its load-bearing capacity has been a pressing problem to be solved.A simple and practical scheme is proposed,i.e.,a magnet sheet is embedded at the fingertips of the soft drive to increase the grasping force by the magnetic force between the fingertips of the grasper.Firstly,the structural design of the soft body gripper and its fabrication method are introduced,and then the mechanical modeling of the gripping is carried out,especially the detailed analysis of the modeling of the tension force when the fingertips are attached,and the magnitude of the theoretical bearing force is obtained.Then the finite element simulation of the gripper model was carried out,and the relationship between the size of air pressure and the bearing capacity was analyzed.Finally,the results of the theoretical modeling and the FEM simulation were compared,and the load carrying capacity of both of them increased by 20.72 N and 16.34 N respectively compared with the gripper without magnetic sheet embedding,which can show that the solution is feasible,and it also provides a new design idea for the development of a soft gripper with high load.

关 键 词：软体抓取器 软体驱动器 磁铁片 抓取模式 有限元仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]