预弯曲螺旋缠绕的气动软体夹持器的研究  

Research on pre-curved spiral wound pneumatic soft gripper

作　　者：谭暾旭 滕燕[1] 王春渊 TAN Tunxu;TENG Yan;WANG Chunyuan(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《北京航空航天大学学报》2025年第2期616-624,共9页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：利用弹性不稳定性来提高仿生软体机器人的性能正日益得到人们的关注。设计了一种具有单稳态结构的预弯曲螺旋缠绕气动软体夹持器,包括应变限制层和快速气动网格通道层两部分。将应变限制层做轴向预拉伸,快速气动网格通道层沿着轴向预拉伸方向偏转一定角度与应变限制层相黏合,释放预拉伸后即得到有预弯曲角的螺旋状夹持器,在驱动下可表现出单稳态行为。通过理论和仿真分析,研究了该型夹持器无压驱动下的预弯曲机理和有压驱动下的弯曲力学行为,分析发现拉伸率和偏转角是影响夹持器性能的关键参数。最后,进行了该型软体夹持器的静力学试验和抓取测试,结果表明:该型夹持器具有良好的目标适应性和抓取能力。由于所具有的单稳态结构,在零气压初始状态下可加持自身质量1.35倍的物体;在有气压驱动状态下最大可夹持自身质量20.85倍的物体。The use of elastic instability to improve the performance of bionic soft robots is getting more and more attention.In this paper,a pre-curved spiral wound pneumatic soft gripper with a monostable structure was designed,which consisted of a strain-limiting layer and a fast pneumatic grid channel layer.The strain-limiting layer was axially pre-stretched,and the fast pneumatic grid channel layer was deflected at a certain angle along the axial pre-stretching direction to bond with the strain-limiting layer.After the pre-stretching was released,a spiral gripper with a pre-curved angle was obtained,which could exhibit a monostable behavior when actuated.Through theoretical and simulation analysis,the pre-bending mechanism under non-pressure actuation and the bending mechanical behavior under pressure actuation were studied.The analysis shows that the stretching ratio and the deflection angle are the key parameters affecting the performance of the gripper.At last,the static test and grasping test of the soft gripper are carried out.The results show that the gripper has good target adaptability and grasping ability.Due to its monostable structure,the gripper can hold objects 1.35 times its weight in the initial state of zero air pressure,and under the condition of pressure actuation,it can hold objects up to 20.85 times its weight.

关 键 词：仿生 单稳态结构 螺旋缠绕 软体夹持器 预弯曲角 

分 类 号：TH138[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]