经编间隔织物基柔性机械手爪制备及性能研究  

Preparation and Performance Study of Warp-knitted Spacer Fabric Based Silica Gel Filled Flexible Manipulator

作　　者：王旭辉 丁沫丹 王金凤 Wang Xuhui;Ding Modan;Wang Jinfeng(College of Textile Science and Engineering(International Institude of Silk),Zhejiang Sci-tech University,Hangzhou,Zhejiang 310018,China)

机构地区：[1]浙江理工大学纺织科学与工程学院(国际丝绸学院),浙江杭州310018

出　　处：《针织工业》2024年第9期1-6,共6页Knitting Industries

基　　金：纺织工程国家级教学示范中心项目(2020FZ03)。

摘　　要：使用经编间隔织物作为填充基体,室温硫化硅橡胶作为填充剂,复合制备一种柔性缓冲材料,运用在机械手爪中以抓取易碎物体。硅橡胶填充率分别为30%、50%、70%、100%,探究不同填充率下柔性复合材料的压缩性能和冲击性能。结果表明,硅橡胶填充可以改善经编间隔织物承受载荷的能力和缓弹性能,填充率越大则柔性缓冲材料承受载荷的能力和缓弹性能也随之增加,提高了缓压和缓弹能力。采用3D打印机械手模具,硅橡胶填充率为100%,得到的柔性复合材料手爪在既保证必要刚性的条件下,又具有合理的弹性,能满足对易碎品、表面柔软物品、珍贵物体的搬运、夹取和移动等需求。A kind of flexible buffering material is prepared by using warp knitted spacer fabric as the flling matrix and room temperature vulcanized silicone rubber as the flling agent,and is then applied to the gripper of the manipulator to grasp the fragile material.The filling rates of the silicone rubber are 30%,50%,70% and 100%,respectively.The compressive and impact properties of flexible composites with different flling rates are investigated.The results show that the flling of silicone rubber can improve the load-bearing capacity and slow elastic properties of warp knitted spacer fabrics.The larger the filling rate,the higher the load-bearing capacity and slow elastic properties of flexible buffering materials.Therefore,the flling of silicone rubber improves the slow compressing and slow elastic properties.The 3D printing manipulator mold is adopted,and the filling rate of the silicone rubber is 100%,the prepared flexible composite mechanical gripper both ensures the necessary rigidity,and has reasonable elasticity,which can meet the requirements of handling,clamping and moving of fragile,soft and precious objects.

关 键 词：压缩性能 冲击性能 机械手 柔性复合材料 经编间隔织物 

分 类 号：TS184.3[轻工技术与工程—纺织材料与纺织品设计]