封闭式仿生螺旋缠绕软体夹持器的设计与研究

曹毅; 顾苏程; 翟明浩; 王保兴; 邓小龙

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

doi: 10.13700/j.bh.1001-5965.2020.0009

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

基金项目:

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

详细信息

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

通讯作者:
曹毅, E-mail: caoyi@jiangnan.edu.cn

中图分类号: TP241
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- 被引次数: 0
出版历程
- 收稿日期: 2020-01-09
- 录用日期: 2020-02-07
- 网络出版日期: 2021-01-20

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

Funds:

The Six Talent Peaks Project in Jiangsu Province ZBZZ-012

Overseas Expertise Introduction Project for Discipline Innovation B18027

Science and Technology Innovation Team Fund of Jiangsu Province 2019SJK07

More Information

Corresponding author: CAO Yi, E-mail:caoyi@jiangnan.edu.cn

摘要

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。
- 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.
- spiral winding deformation /
- fiber-reinforced structure /
- bionic /
- soft gripper /
- closed form /
- Mooney-Rivlin model

HTML全文

图 1 蛇缠绕示意图

Figure 1. Schematic diagram of a snake winding

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图 2 封闭式仿生螺旋缠绕软体夹持器结构

Figure 2. Structure of closed bionic spiral wound soft gripper

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图 3 单元螺旋缠绕驱动器

Figure 3. Unit spiral wound actuator

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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

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图 5 拉伸实验

Figure 5. Stretching test

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图 6 单元驱动器变形状态对比

Figure 6. Comparison of deformation state of unit actuator

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图 7 螺旋缠绕驱动器视图

Figure 7. Schematic diagram of spiral wound actuator

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图 8 驱动器局部路径几何关系

Figure 8. Local path geometry diagram of actuator

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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

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图 10 实验试件制备流程

Figure 10. Flowchart of manufacturing for experimental sample

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图 11 硬件实验平台

Figure 11. Hardware experimental platform

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图 12 单元驱动器螺旋缠绕示意图

Figure 12. Schematic diagram of unit spiral winding of actuator

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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

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图 14 螺旋缠绕驱动器抓取性能实验

Figure 14. Grabbing experiment of spiral wound actuator

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图 15 软体夹持器充气前后对比

Figure 15. Comparison of soft gripper before and after inflation

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图 16 软体夹持器多目标抓取能力

Figure 16. Multi-target grabbing ability of soft gripper

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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/(°)
P/kPa	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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