| 戴军跃*,冯宇*,朱明珠**.变刚度软体抓手的建模分析与抓取实验[J].高技术通讯(中文),2025,35(1):93~101 |
| 变刚度软体抓手的建模分析与抓取实验 |
| Modeling and grasping experiment for soft gripper with variable stiffness |
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| DOI：10. 3772 / j. issn. 1002-0470. 2025. 01. 010 |
| 中文关键词: 变刚度； 软体机器人； 旋转干扰层单元； 高速抓取实验； 有限元仿真 |
| 英文关键词: variable stiffness, soft robotics, rotational jamming layer unit, high-speed grasping experiment, finite element simulation |
| 基金项目: |
| 作者 | 单位 | | 戴军跃* | （*浙江工业大学信息工程学院杭州 310023）
（**西北工业大学航天学院西安 710072） | | 冯宇* | | | 朱明珠** | |
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| 中文摘要: |
| 在处理脆弱或易碎物品时，软体抓手由于其柔顺性，是比刚性抓手更好的末端执行器。然而，高速运输过程中软体抓手会产生振动，导致物体损坏或者抓取失败，因此可变刚度的软体抓手近年来成为研究热点。本文基于层干扰结构设计了一种变刚度软体抓手，并建立了其在气压影响下的弯曲模型，同时利用Abaqus软件对其进行有限元仿真分析；设计并搭建了变刚度软体抓手控制平台，基于此平台开展实验验证软体手指弯曲形态与充气气压之间的关系，实验结果与理论分析、仿真分析相吻合，验证了数学模型的正确性；在对物体的高速抓取实验中，变刚度软体抓手的抓取性能得以验证，在应变限制单元的帮助下，当机械臂以高达8m·s-2的加速度运动时，软体抓手依然可以进行稳健抓取。 |
| 英文摘要: |
| Soft gripper is a better choice when handling fragile or delicate objects than rigid gripper due to its suppleness. However, high-speed motion can cause a vibration of soft grippers, resulting in object damage or grasping failure. Thus, soft grippers with variable stiffness have become a hot research topic in recent years. In this paper, a soft gripper with variable stiffness based on layer jamming is designed, and its bending model under pneumatic pressure is established.Finite element simulation analysis is performed using Abaqus. Moreover, a control platform of variable stiffness soft body gripper is designed and constructed. Based on this platform experiments are carried out to verify the relationship between the bending angle of the soft finger and the inflation air pressure. In addition, the experimental results agree well with the theoretical analysis results, which validates the correctness of the mathematical model. In the high-speed grasping experiment with acceleration up to 8m·s-2, the soft gripper can still grasp the object stably, which shows that the robustness of grasping can be guaranteed with the help of the interference layer unit. |
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