柔性手爪机构设计与变刚度技术研究发展综述  

Development of Flexible Gripper Mechanism Design and Variable Stiffness Technology Research

作　　者：潘杰 于靖军[2] 裴旭[2] PAN Jie;YU Jingjun;PEI Xu(China Electric Power Research Institute,Beijing 100055;School of Mechanical Engineering and Automation,Beihang University,Beijing 100191)

机构地区：[1]中国电力科学研究院有限公司,北京100055 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械工程学报》2024年第13期281-296,共16页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(U1813221)。

摘　　要：手爪是作业型机器人系统中重要组成部分,其作业形式和性能决定着机器人的整体能力。通过对手爪的创新设计可有效降低机器人对材料加工、零部件装配、运动感知和控制算法开发等依赖,显著提升机器人对复杂作业环境和对象的自适应能力。当前机器人手爪的种类主要分为刚性手爪和柔性手爪两大类。相比刚性手爪,柔性手爪在未知环境下作业、夹持几何非规则物体、夹持表面易碎物品和安全人机交互等方面具有良好的优势。与此同时,柔性手爪在实现柔顺性变形同时也存在因结构刚度不足而导致输出力小、操作精度差等问题,目前尚未被很好地解决,因此如何在保证柔性手爪柔顺变形的同时保持手爪的载荷输出能力是当前亟需解决的问题。针对柔性手爪的机构设计和变刚度技术共性话题,结合提升柔性手爪的形状自适应性和作业载荷能力的背景需求,从柔性手爪的构型设计和变刚度技术两个方面详细分析了柔性手爪在发展中所取得的显著进展和不足,系统总结了柔性手爪的研制技术和所面临的主要挑战,为柔性手爪的多功能化和智能化提供新思路,拓展柔性手爪的应用领域,提升机器人的整体作业能力。Gripper is an important part of the operational robot system,and its operational form and performance determine the overall capability of the robot.Through the innovative design of the gripper can effectively reduce the dependence of the robot on material processing,parts assembly,sensing and control algorithms,and significantly improve the robotics ability to adapt to complex operating environments and objects.The present types of robot grippers are mainly divided into two categories:rigid gripper and flexible gripper.Compared with rigid grippers,flexible grippers have good advantages in unknown environment,gripping geometrically non-regular objects,gripping fragile objects on the surface and safe human-robot interaction.At the same time,the flexible gripper in the realisation of smooth deformation is also accompanied by the existence of a small output and poor operating accuracy due to the lack of structural rigidity,which has not yet been well resolved.Therefore,how to keep the load output capacity of the flexible gripper while providing smooth deformation is a problem that needs to be solved urgently at present.This paper focuses on the common topic of institutional design and variable stiffness technology of flexible gripper,combined with the requirements of enhancing the shape adaptability and operational load capacity of flexible gripper,detailed analyses of the significant progress and shortcomings in the development of flexible gripper from the two aspects of the configuration design and variable stiffness technology.The development technology and the main challenges faced by the flexible gripper are summarised systematically and providing new ideas for the multi-functional and intelligent development of the flexible gripper,expanding the application fields of the flexible gripper and enhancing the overall operation capability of the robot.

关 键 词：柔性手爪 柔顺变形 自适应 机构设计 变刚度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]