多关节仿生机械手结构设计与仿真分析  

Structural Design and Simulation Analysis of Multi-Joint Bionic Soft Manipulator

作　　者：于昌润 赵虎 朱银龙[1] YU Chang-run;ZHAO Hu;ZHU Yin-long(School of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037

出　　处：《林业机械与木工设备》2025年第1期64-69,75,共7页Forestry Machinery & Woodworking Equipment

基　　金：大学生创新训练项目(2024NFUSPITP0290)。

摘　　要：介绍了一种仿人手指驱动器组成的三指软体机械手爪。根据手指的结构,设计的仿人手指驱动器由3个弯曲关节及4个软体指节组成,通过关节腔室变形弯曲协助手爪进行抓握,指节处用实体硅胶,每个关节通过单独的腔道分开控制,驱动方式为气压驱动,安全稳定。使用Solidworks设计仿人手指驱动器,将其导入ABAQUS对仿人手指驱动器进行有限元仿真,分析确定驱动器的关节处的结构参数。将仿真结果与传统连续式软体驱动器的仿真结果进行对比,仿人手指驱动器更具优势。This paper describes a three-finger soft body robotic gripper composed of humanoid finger actuators.According to the structure of fingers,the designed humanoid finger driver consists of three bending joints and four soft body knuckles.The hand claw is assisted in grasping by deformed bending of the joint chambers,with solid silicone at the knuckles,and each joint is controlled separately through a separate chamber.The drive mode is pneumatic pressure drive,safe and stable.Solidworks is used to design the humanoid finger actuator,after which it is imported into ABAQUS for finite element simulation of the humanoid finger actuator to analyze and determine the structural parameters at the joints of the actuator.The simulation results are compared with those of the traditional continuous soft actuator to analyze the advantages of the humanoid finger actuator.

关 键 词：仿生机械手 驱动器 软体机械手爪 结构设计 有限元仿真分析 

分 类 号：S776[农业科学—森林工程]