基于鳍射线效应和有限元法的增强复合机械手指柔性抓握设计

IF 5.4 2区工程技术 Q2 ENGINEERING, MANUFACTURING

CIRP Journal of Manufacturing Science and Technology Pub Date : 2025-06-19 DOI:10.1016/j.cirpj.2025.06.014

Mohamad Safvati , Necati Çetin

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引用次数: 0

摘要

这项研究为软机器人技术创造了一种更先进的增强Fin Ray手指，在性能和结构强度方面都有所改善。三角形的形状被发现可以增强负载的分布和抗弯曲能力，从而解决了以前模型的局限性。战略加固放置损害了抓取所需的刚度和灵活性，从而影响了设计的稳健性。这项研究使得开发出更先进的增强Fin Ray手指用于软机器人，在性能和结构强度方面都有改进。在20 mm处，夹持力增加了37%，从1.96牛顿增加到2.68牛顿。平均应力由210.10 kPa提高到244.10 kPa。战略性的加固位置增强了刚度和灵巧性，而六边形几何结构提供了最佳的力阻力平衡。结果证明了创新几何构型在软机器人中的优势。对这三种钢筋几何形状的比较表明，六边形几何形状在不影响结构耐久性的情况下，对产生夹持力（2.81牛顿）最有效。此外，通过应力分布分析，研究了握把强度和完整性对设计参数的依赖关系。与非复合材料模型的2.81 N相比，具有六边形增强材料的复合材料手指的创造是一个突破，实现了3.19 N的抓握力。复合材料结构为需要强度和柔韧性的条件提供了增强的变形性能。先进的设计和材料通常使机器人系统更强大，与基准手指相比，hexa增强复合模型的握力增加了63%。结果证明了创新几何构型在软机器人中的优势。

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Design of a reinforced composite robotic finger for enhanced soft grasping using the Fin Ray effect and FEM

This research enabled the creation of a more advanced reinforced Fin Ray finger for soft robotics with improvements in performance and structural strength. The triangular shape has been found to enhance the distribution of loads and resistance to bending, thereby addressing the limitations of previous models. Strategic reinforcement placement compromised the stiffness and dexterity required for grasping, thereby affecting the robustness of the design. This research enabled the development of a more advanced reinforced Fin Ray finger for soft robotics, with improvements in both performance and structural strength. At 20 mm, an increase of 37 % in gripping force was observed with the increase from 1.96 Newtons to 2.68 Newtons. The average stress also improved from 210.10 kPa to 244.10 kPa. Strategic reinforcement placement enhanced both stiffness and dexterity, while the hexagonal geometry provided the optimal balance of force resistance. The results demonstrated the advantages of innovative geometric configurations in soft robotics. A comparison of these three reinforcement geometries showed that the hexagonal geometry is both the most effective for generating a gripping force (2.81 Newtons) without compromising structural durability. In addition, the dependence of grip strength and integrity on the design parameters was investigated by analyzing the stress distribution. The creation of a composite finger with hexagonal reinforcements was a breakthrough, achieving a gripping force of 3.19 N, compared to the non-composite model's 2.81 N. The composite structure provided enhanced deformation properties for conditions that required both strength and flexibility. Advanced designs and materials generally enabled stronger robotic systems, with a 63 % increase in gripping force for the Hexa-reinforced composite model compared to the baseline finger. The results demonstrated the advantages of innovative geometric configurations in soft robotics.

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来源期刊

CIRP Journal of Manufacturing Science and Technology Engineering-Industrial and Manufacturing Engineering

CiteScore

9.10

自引率

6.20%

发文量

166

审稿时长

63 days

期刊介绍： The CIRP Journal of Manufacturing Science and Technology (CIRP-JMST) publishes fundamental papers on manufacturing processes, production equipment and automation, product design, manufacturing systems and production organisations up to the level of the production networks, including all the related technical, human and economic factors. Preference is given to contributions describing research results whose feasibility has been demonstrated either in a laboratory or in the industrial praxis. Case studies and review papers on specific issues in manufacturing science and technology are equally encouraged.