变腔室气动软体机械手结构设计与实验

采用自制的变腔室气动驱动器设计了一种柔性三指机械手,通过依次改变驱动器的腔室结构提高柔性手爪的变形和刚度。建立变腔室气动软体驱动器形变模型,分析腔体鼓包变形与腔内气压关系,并进行仿真分析和静力学实验,获得不同气压下的变形特性和不同触点的正压力。进行了不同形状和尺寸物品的抓取实验,结果表明:该三指机械手具有较好的柔性和灵活性,变腔体结构的驱动器可以提高软体手爪的变形和夹持力。

Structure Design and Experiment of Variable Chamber Pneumatic Soft Manipulator

A flexible three finger manipulator was designed by using a self made variable chamber pneumatic actuator. The deformation and stiffness of the flexible gripper were improved by changing the structure of the actuator chamber in turn. The deformation model of variable chamber pneumatic soft actuator was established, and the relationship between cavity bulging deformation and the air pressure in chamber was analyzed. Simulation analysis and static experiment were carried out to obtain the deformation characteristics and the positive pressure of different contacts under different air pressure. The results show that the three fingered manipulator has good flexibility and compliance, and the actuator with variable chamber structure can improve the deformation and clamping force of the soft gripper.