软抓取机器人的仿生设计与铸造成型方法

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2020-10-16 DOI:10.1109/ICMRA51221.2020.9398370

Lilly Te, Lan Tian, Liqiong Heng, Cui Boyao, Liang Zhenkun, W. Yongqing

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引用次数: 3

摘要

软夹持器由于其本体柔软易变形，具有良好的柔性夹持能力。受水母环形和纵向肌肉驱动原理的启发，提出了一种包络式软抓取机器人，该机器人由四个精心设计的仿生软驱动器组合而成。有限元分析结果表明，该仿生软致动器具有类似水母环肌和纵肌的弯曲能力。然后利用3d打印技术对铸件成型模具进行设计和制造。详细介绍了铸造成形工艺。最后，将仿生软爪集成到KUKA机器人上，实现对目标物体的抓取。实验结果表明，所设计的仿生软爪可以稳定地抓取光滑面海鲜和鸡蛋。

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Bionic Design and Casting Forming Method of a Soft Gripper Robot

Soft gripper has excellent flexible grasping ability due to the soft and transformable body. Inspired by the drive principle of ring and longitudinal muscle in jellyfish, a enveloped soft gripper robot is proposed, which is combined of four well-designed bionic soft actuators. The FEA results presents that the bionic soft actuator can bend similar as the ring and longitudinal muscle in jellyfish. Then the molds of casting forming are designed and fabricated by 3D-printing. The casting forming process is presented in detail. Finally, the bionic soft gripper is integrated on the KUKA robot to grasp target objects. The experiment results prove that the proposed bionic soft gripper can stably grasp smooth-faced seafood and eggs.

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来源期刊

2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA)

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