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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。
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.
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Key words:
- spiral winding deformation /
- fiber-reinforced structure /
- bionic /
- soft gripper /
- closed form /
- Mooney-Rivlin model
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图 4 螺旋缠绕驱动器结构变形及受力示意图
Figure 4. Structural deformation and force diagram of spiral wound actuator
图 9 单元螺旋缠绕驱动器仿真示意图
Figure 9. Schematic diagram of unit spiral winding simulation of actuator
图 13 驱动器端面扭转角相对误差对比
Figure 13. Torsion angle relative error comparison of actuator end face
表 1 单元螺旋缠绕驱动器结构参数
Table 1. Unit spiral wound actuator structure parameters
参数 数值 单元驱动器长度L/mm 110 单元驱动器空腔半径r/mm 6 单元驱动器半径R/mm 10 单元驱动器偏心距e1/mm 3 螺纹线圈缠绕角度α/(°) 3 
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表 2 螺旋缠绕驱动器末端端面扭转角
Table 2. End face torsion angle of spiral wound actuator
P/kPa 端面扭转角/(°) 理论值 仿真值 实验值 0 0 0 0 10 19.97 20.6 18.5 20 39.51 40.3 37 30 55.25 58.4 50.6 40 70.86 75.8 68.4 50 85.73 92.2 79.5 60 99.42 107.1 96.5 70 112.74 122.8 109.6
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