Min Sun, Haonan Fu, Hongshuai Lei, Zhiwei Qiu, Jialei Zhang, Guang Zhang, Zheng Zhang, Jiquan Li, Shaofei Jiang
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摘要

在非典型工业环境中,软抓手需要适应不同的物体形状。现有的抓手通常只能适应单曲率、固定刚度的物体,从而限制了其稳定性和可用性。本研究介绍了一种具有多曲率的手指设计,它结合了一个楔形致动器和两个可变刚度单元(VSU),其灵感来自蛇的鳞片。通过调整可变刚度元件的高刚度和低刚度状态,手指的局部结构刚度发生了变化,从而使抓手具备了弯曲形状控制和可变刚度的能力。建立了楔形致动器的有限元模型,并通过正交实验分析了顶壁厚度、侧壁厚度、过渡层厚度和侧壁高度等参数对弯曲角度和尖端输出力的影响。此外,还研究了楔形致动器的纵向长度与弯曲角度和顶端输出力之间的关系。通过显式动态分析,预测了 VSU 在工作真空压力下的刚度变化,随后根据实验数据进行了验证,证实了模型的可靠性。通过实验评估了手指形状控制和刚度调整的有效性。最后,构建了一个双指抓手来进行抓取实验。结果表明,该机械手能够产生各种夹持曲率,使其能够紧密贴合所抓取的物体,并大大拓宽了其夹持范围。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales.

In atypical industrial settings, soft grippers needed to adjust to different object shapes. Existing grabbers typically accommodated only single-curvature, fixed-stiffness objects, restricting their stability and usability. This study presents a design for a finger featuring multi-curvature, incorporating a wedge actuator alongside two variable stiffness units (VSUs) inspired by snake scales. By adjusting the high stiffness and low stiffness states of the variable stiffness element, the local structural stiffness of the finger was changed, thereby granting the gripper capabilities in bending shape control and variable stiffness. A finite element model of the wedge actuator was developed, and the influence of several parameters, including top wall thickness, side wall thickness, transition layer thickness, and sidewall height on bending angle and tip output force was analyzed through an orthogonal experiment. Furthermore, the relationship between the longitudinal length of the wedge actuator and both the bending angle and the tip output force was studied. Via explicit dynamic analysis, the stiffness variation of the VSU under operational vacuum pressure was predicted and subsequently validated against experimental data, confirming the reliability of the model. The effectiveness of finger shape control and stiffness adjustment was evaluated through experiments. Ultimately, a two-finger gripper was constructed to carry out the grasping experiments. The results showed that the gripper is capable of generating various clamping curvatures, enabling it to conform closely to the objects it grips and significantly broaden its clamping range.

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