封闭式仿生螺旋缠绕软体夹持器的设计与研究

doi:10.13700/j.bh.1001-5965.2020.0009

北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (1): 15-23.doi: 10.13700/j.bh.1001-5965.2020.0009

封闭式仿生螺旋缠绕软体夹持器的设计与研究

曹毅^1,2, 顾苏程^1,2, 翟明浩^1,2, 王保兴^1,2, 邓小龙³

1. 江南大学机械工程学院, 无锡 214122;
2. 江苏省食品先进制造装备技术重点实验室, 无锡 214122;
3. 江苏信息职业技术学院电气工程系, 无锡 214153

收稿日期:2020-01-09 发布日期:2021-01-29
通讯作者: 曹毅 E-mail:caoyi@jiangnan.edu.cn
作者简介:曹毅,男,博士,教授,硕士生导师。主要研究方向:软体机器人、并联机器人、混联机器人、柔性机器人;顾苏程,男,硕士研究生。主要研究方向:软体机器人;翟明浩,男,硕士研究生。主要研究方向:深度学习;王保兴,男,硕士研究生。主要研究方向:柔性机构学;邓小龙,男,博士,教授。主要研究方向:软体机器人、电气自动化技术、机电一体化技术、物联网技术等。
基金资助:
江苏省“六大人才高峰“计划（ZBZZ-012）；高等学校学科创新引智计划（B18027）；江苏省高校优秀科技创新团队基金（2019SJK07）

Design and research of closed bionic spiral wound soft gripper

CAO Yi^1,2, GU Sucheng^1,2, ZHAI Minghao^1,2, WANG Baoxing^1,2, DENG Xiaolong³

1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China;
3. Department of Electrical Engineering, Jiangsu Vocational College of Information Technology, Wuxi 214153, China

Received:2020-01-09 Published:2021-01-29

摘要/Abstract

摘要： 针对目前软体夹持器缺乏螺旋缠绕变形的理论研究及传统多指软体夹持器夹持力不足的问题，开展了针对纤维增强结构的仿生软体夹持器螺旋缠绕变形特性的研究，提出了一种新的封闭式抓取方式。首先，设计了仿生软体夹持器，该夹持器由软体夹持装置、软体夹持套、紧固套及连接装置组成。其次，基于Mooney-Rivlin模型建立了驱动压强与驱动器螺旋缠绕变形后端面扭转角度的非线性数学模型，并对夹持器封闭式抓取的末端闭合特性进行了分析。然后，开展了单元驱动器螺旋缠绕变形的仿真及实验，结果证明了理论模型的正确性。最后，进行了仿生软体夹持器封闭式抓取实验。结果表明：封闭式仿生软体夹持器具有较大的负载能力及良好的目标适应性。

关键词: 螺旋缠绕变形, 纤维增强型, 仿生, 软体夹持器, 封闭式, Mooney-Rivlin模型

Abstract: Aimed at the problems of lacking the theoretical research on the spiral winding deformation for soft gripper and the traditional soft gripper having a low load capacity, the research on the spiral deformation characteristics and the closed capture form of the fiber-reinforced bionic soft gripper was carried out. First, a bionic soft gripper was designed, which is composed of a software holding device, a soft clamping sleeve, a fixing sleeve and a connecting device. Secondly, a nonlinear mathematical model of the driving pressure and the torsion angle of the soft driver end face is established based on the Mooney-Rivlin model. And the end-closing characteristics of the soft gripper were analyzed. Then, the simulation and experiment of the unit spiral wound drive were carried out. The results prove the correctness of the theoretical model. Finally, the closed grabbing experiment of the bionic soft gripper was carried out. Experimental results show that the closed bionic soft gripper has a large load capacity and good target adaptability.

Key words: spiral winding deformation, fiber-reinforced structure, bionic, soft gripper, closed form, Mooney-Rivlin model

中图分类号:

TP241

曹毅, 顾苏程, 翟明浩, 王保兴, 邓小龙. 封闭式仿生螺旋缠绕软体夹持器的设计与研究[J]. 北京航空航天大学学报, 2021, 47(1): 15-23.

CAO Yi, GU Sucheng, ZHAI Minghao, WANG Baoxing, DENG Xiaolong. Design and research of closed bionic spiral wound soft gripper[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(1): 15-23.

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封闭式仿生螺旋缠绕软体夹持器的设计与研究

Design and research of closed bionic spiral wound soft gripper

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