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摘要:
利用弹性不稳定性来提高仿生软体机器人的性能正日益得到人们的关注。设计了一种具有单稳态结构的预弯曲螺旋缠绕气动软体夹持器，包括应变限制层和快速气动网格通道层两部分。将应变限制层做轴向预拉伸，快速气动网格通道层沿着轴向预拉伸方向偏转一定角度与应变限制层相黏合，释放预拉伸后即得到有预弯曲角的螺旋状夹持器，在驱动下可表现出单稳态行为。通过理论和仿真分析，研究了该型夹持器无压驱动下的预弯曲机理和有压驱动下的弯曲力学行为，分析发现拉伸率和偏转角是影响夹持器性能的关键参数。最后，进行了该型软体夹持器的静力学试验和抓取测试，结果表明：该型夹持器具有良好的目标适应性和抓取能力。由于所具有的单稳态结构，在零气压初始状态下可加持自身质量1.35倍的物体；在有气压驱动状态下最大可夹持自身质量20.85倍的物体。
Abstract:The use of elastic instability to improve the performance of bionic soft robots is getting more and more attention. In this paper, a pre-curved spiral wound pneumatic soft gripper with a monostable structure was designed, which consisted of a strain-limiting layer and a fast pneumatic grid channel layer. The strain-limiting layer was axially pre-stretched, and the fast pneumatic grid channel layer was deflected at a certain angle along the axial pre-stretching direction to bond with the strain-limiting layer. After the pre-stretching was released, a spiral gripper with a pre-curved angle was obtained, which could exhibit a monostable behavior when actuated. Through theoretical and simulation analysis, the pre-bending mechanism under non-pressure actuation and the bending mechanical behavior under pressure actuation were studied. The analysis shows that the stretching ratio and the deflection angle are the key parameters affecting the performance of the gripper. At last, the static test and grasping test of the soft gripper are carried out. The results show that the gripper has good target adaptability and grasping ability. Due to its monostable structure, the gripper can hold objects 1.35 times its weight in the initial state of zero air pressure, and under the condition of pressure actuation, it can hold objects up to 20.85 times its weight.
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Key words:
- bionic /
- monostable structure /
- spiral wound /
- soft gripper /
- pre-curved angle
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图 4 软体夹持器单稳态结构能量分布
Figure 4. Energy distribution of monostable structure of soft gripper
图 5 夹持器的运动被解耦为弯曲运动和扭转运动
Figure 5. Decoupling of gripper motion into bending motion and deflection motion
图 7 偏转角为零时预弯曲角随拉伸率变化的试验仿真对比和曲线
Figure 7. Comparison and curve of pre-curved angle changing with stretching ratio when deflection angle is zero between test and simulation
图 8 预弯曲角与预扭转角试验与仿真结果
Figure 8. Test and simulation results of pre-curved angle and pre-deflected angle
图 9 夹持器驱动下弯曲角和扭转角仿真结果
Figure 9. Simulation results of curved angle and deflected angle under gripper actuation
图 10 80 kPa压力驱动下夹持器仿真与试验变形对比图
Figure 10. Comparison of gripper deformation between simulation and test under pressure actuation of 80 kPa
图 11 ${\varepsilon _{{\text{pre}}}} = 30\% $和$\beta = {20^ \circ }$的夹持器试验与仿真的弯曲角与扭转角
Figure 11. Curved angle and deflected angle of gripper in test and simulation for ${\varepsilon _{{\text{pre}}}} = 30\% $ and β=20°
图 13 预拉伸应力与残余应力在AB方向上的分析结果
Figure 13. Analysis results of pre-stretching stress and residual stress in AB direction
图 14 AB方向上的应力随输入气压的变化曲线
Figure 14. Stress variation in AB direction with input air pressure
图 17 抓取能力试验系统原理图
1-气源；2-开关阀；3-分离器；4，6，7-减压阀；5-干燥器；8-手动换向阀；9，10-节流阀；11-数显表；12-气缸；13-拉压力传感器；14-软体夹持器；15-圆柱体；16-变送器；17-采集仪。
Figure 17. Principle of grasping ability test system
图 20 零输入气压抓取柱状物体试验结果
Figure 20. Test results of grasping cylindrical objects with zero input air pressure
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