北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (2): 447-456.doi: 10.13700/j.bh.1001-5965.2019.0251

• 论文 • 上一篇    

纤维增强型软体夹持器变形及末端接触力

顾苏程1,2, 王保兴1,2, 刘俊辰1,2, 李巍3, 曹毅1,2   

  1. 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. 苏州工业职业技术学院, 苏州 215104
  • 收稿日期:2019-05-22 发布日期:2020-03-11
  • 通讯作者: 曹毅 E-mail:caoyi@jiangnan.edu.cn
  • 作者简介:顾苏程,男,硕士研究生。主要研究方向:软体机器人;王保兴,男,硕士研究生。主要研究方向:柔性机构学;刘俊辰,男,硕士研究生。主要研究方向:混联机构动力学;李巍,男,博士。主要研究方向:软体机器人;曹毅,男,博士,教授。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。
  • 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);江苏省研究生创新计划(SJCX18-0630,KYCX18-1846)

Deformation and end contact force of fiber-reinforced soft gripper

GU Sucheng1,2, WANG Baoxing1,2, LIU Juncheng1,2, LI Wei3, CAO Yi1,2   

  1. 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. Suzhou Vocational Institute of Industrial Technology, Suzhou 215104, China
  • Received:2019-05-22 Published:2020-03-11
  • Supported by:
    The Six Talent Peaks Project in Jiangsu Province (ZBZZ-012); "111" Project (B18027); Postgraduate Research & Practice Innovation Program of Jiangsu Province (SJCX18-0630,KYCX18-1846)

摘要: 针对目前软体机器人缺乏变形和接触力方面理论研究的问题,以软体夹持器为研究对象,开展了纤维增强型软体夹持器变形及末端接触力的研究。首先设计了气动软体夹持器,该夹持器由纤维增强型单向弯曲驱动器、接触气囊以及单元的连接装置组成;其次基于Yeoh模型、Neo-Hookean模型分别建立了弯曲驱动器驱动压强与弯曲变形圆心角的非线性数学模型和弯曲驱动器末端接触力理论模型;然后开展了软体夹持器变形和末端接触力的仿真及实验,结果证明了理论模型的正确性;最后进行了纤维增强结构对软体夹持器变形和末端接触力影响的研究,实验结果表明:纤维增强结构能大幅度提高软体夹持器的变形和末端接触力。上述研究为其他纤维增强型软体夹持器变形及末端接触力的研究提供了理论基础。

关键词: 纤维增强型, 软体夹持器, Yeoh模型, Neo-Hookean模型, 变形, 末端接触力

Abstract: In order to solve the problem of lacking the research on the deformation and end contact force of soft robotics, a soft gripper is taken as the research object, and the research on the deformation and end contact force of fiber-reinforced soft gripper is carried out. Firstly, a soft pneumatic gripper is designed, which is composed of a unidirectional bending drive with a fiber-reinforced structure, an axially elongated contact airbag and a unitary connecting device. Secondly, a nonlinear mathematical model of curved center angle of a soft drive actuated by specific pressure is established, which is based on the Yeoh model. Based on the Neo-Hookean model, the theoretical model of the end contact force of the bending actuator is established. Then, a finite element simulation and experimental validation of the soft gripper are carried out to verify the correctness of the theoretical model. Finally, the study on the effect of fiber-reinforced structure on the deformation and end contact force of gripper is carried out. Experimental results show that fiber-reinforced structure can improve the deformation and end contact force of the soft gripper greatly. This research provides a theoretical basis for the research on the deformation and end contact force of other fiber-reinforced soft grippers.

Key words: fiber-reinforced, soft gripper, Yeoh model, Neo-Hookean model, deformation, end contact force

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