仿生软夹持器，基于sma的可变刚度

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-09-17 DOI:10.1016/j.mechatronics.2025.103417

Xiulu Liu, Zirui Song, Liqiang Xu

{"title":"仿生软夹持器，基于sma的可变刚度","authors":"Xiulu Liu, Zirui Song, Liqiang Xu","doi":"10.1016/j.mechatronics.2025.103417","DOIUrl":null,"url":null,"abstract":"<div><div>To address insufficient clamping force and instability in traditional soft grippers, this study presents a bio-inspired soft gripper with SMA-based variable stiffness. Inspired by human hand musculature and bone structure, the design combines a silicone-based soft finger with a variable-stiffness module. This integration enables adjustable stiffness while retaining softness, significantly enhancing clamping performance. Experimental results show the variable-stiffness gripper achieves a maximum single-finger fingertip force of 1.7 N, representing a 112.5% improvement over the traditional soft gripper. Maximum fingertip and wrap-around clamping weights reach 259.33 g and 524.97 g, corresponding to 126.96% and 97.7% increases, respectively. The gripper demonstrates robust adaptability in household scenarios, effectively handling objects ranging from fragile foods to everyday tools.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"112 ","pages":"Article 103417"},"PeriodicalIF":3.1000,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Bio-inspired soft gripper with SMA-based variable stiffness\",\"authors\":\"Xiulu Liu, Zirui Song, Liqiang Xu\",\"doi\":\"10.1016/j.mechatronics.2025.103417\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>To address insufficient clamping force and instability in traditional soft grippers, this study presents a bio-inspired soft gripper with SMA-based variable stiffness. Inspired by human hand musculature and bone structure, the design combines a silicone-based soft finger with a variable-stiffness module. This integration enables adjustable stiffness while retaining softness, significantly enhancing clamping performance. Experimental results show the variable-stiffness gripper achieves a maximum single-finger fingertip force of 1.7 N, representing a 112.5% improvement over the traditional soft gripper. Maximum fingertip and wrap-around clamping weights reach 259.33 g and 524.97 g, corresponding to 126.96% and 97.7% increases, respectively. The gripper demonstrates robust adaptability in household scenarios, effectively handling objects ranging from fragile foods to everyday tools.</div></div>\",\"PeriodicalId\":49842,\"journal\":{\"name\":\"Mechatronics\",\"volume\":\"112 \",\"pages\":\"Article 103417\"},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2025-09-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechatronics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0957415825001266\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415825001266","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

针对传统软夹持器夹紧力不足和不稳定的问题，提出了一种基于sma的变刚度仿生软夹持器。受人手肌肉组织和骨骼结构的启发，该设计结合了基于硅树脂的柔软手指和可变刚度模块。这种集成可以在保持柔软度的同时调节刚度，显着提高夹紧性能。实验结果表明，变刚度夹持器单指指尖最大受力为1.7 N，比传统软夹持器提高了112.5%。最大指尖夹紧重量为259.33 g，最大环绕夹紧重量为524.97 g，分别增长126.96%和97.7%。抓手在家庭场景中表现出强大的适应性，有效地处理从易碎的食物到日常工具的物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Bio-inspired soft gripper with SMA-based variable stiffness

To address insufficient clamping force and instability in traditional soft grippers, this study presents a bio-inspired soft gripper with SMA-based variable stiffness. Inspired by human hand musculature and bone structure, the design combines a silicone-based soft finger with a variable-stiffness module. This integration enables adjustable stiffness while retaining softness, significantly enhancing clamping performance. Experimental results show the variable-stiffness gripper achieves a maximum single-finger fingertip force of 1.7 N, representing a 112.5% improvement over the traditional soft gripper. Maximum fingertip and wrap-around clamping weights reach 259.33 g and 524.97 g, corresponding to 126.96% and 97.7% increases, respectively. The gripper demonstrates robust adaptability in household scenarios, effectively handling objects ranging from fragile foods to everyday tools.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.