刚柔复合软指夹爪的设计与制作  

Design and Manufacture of an Rigid-Soften Composite Soft Pneumatic Robotic Gripper

作　　者：雷亚雄 高宏力[1,2] 郭亮[1,2] 杨恺 LEI Yaxiong;GAO Hongli;GUO Liang;YANG Kai(Engineering Research Center of Advanced Driving Energy-Saving Technology,Ministry of Education,Southwest Jiaotong University,Sichuan Chengdu 610031,China;School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610031,China)

机构地区：[1]西南交通大学先进驱动节能技术教育部工程研究中心,四川成都610031 [2]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2024年第12期323-327,共5页Machinery Design & Manufacture

基　　金：中央高校基本科研专项资金—基于多学科优化的高速飞行器测力技术研究(2018GF02);大数据背景下高端数控机床刀具的故障预示研究(2682019CX35)。

摘　　要：针对当前软指夹爪在水平方向抓取物体时侧向形变量大、负载小的缺点,提出了一种在其软指限制层内复合弹性钢片的方案。分别进行了刚柔复合的单指设计与实物制作、二指集成设计与实物制作、微型气压控制器的设计,搭建了一个简单的测试平台,使用三种不同直径的玻璃杯,对两种二指手爪进行了压强-负载实验和负载-倾斜度实验。对照结果显示:提出的这种方案改善了软指夹爪侧向受力情况、减小了抓取时的软指侧向形变角度,并提高了负载能力,取得了良好的效果。For the current soft finger gripper,when the object is grasped in the horizontal direction,the lateral shape variable is large and the load is small,a new scheme of adding elastic steel plate to it is proposed.New single finger design and physical production,two fingers gripper design and physical production are respectively carried out.A micro pneumatic controller is designed,A simple test platform was built,and the pressure-load experiment and a load-tilt experiment were conducted on two kinds of two-fingered grippers by picking up the glasses of three specifications.Control results showed that:The scheme proposed in this paper greatly improves the lateral force,reduces the lateral shape of fingers,improves the load capacity and achieves good results.

关 键 词：软体机器人 气压驱动 刚柔复合 机械爪 

分 类 号：TH16[机械工程—机械制造及自动化] TH12[自动化与计算机技术—检测技术与自动化装置] TP24[自动化与计算机技术—控制科学与工程]