| Citation: | CAO Yi, GU Sucheng, ZHAI Minghao, et al. Design and research of closed bionic spiral wound soft gripper[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(1): 15-23. doi: 10.13700/j.bh.1001-5965.2020.0009(in Chinese)
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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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