一种内骨骼软体手的抓取策略研究

根据混流柔性生产对机械手提出的对不同形状、不同质量且易损伤物体进行安全可靠抓取的需求,提出了一种新型的驱动与承力功能分解的关节式内骨骼气动软体机械手的设计思想,并完成了软体手的具体结构设计。针对软体手的抓取控制策略问题,提出了一种基于实时位置检测的压力补偿算法。通过嵌入手指中的柔性弯曲传感器,实时监测手指各指段位置,间接判定软体手当前抓取状态。估算了手指各指段的初始预加载气压值,提高了抓取成功率与抓取效率。对软体手进行了实物抓取试验,结果表明,软体手可以对柔软、不规则、易损易碎物体进行安全可靠抓取,验证了抓取控制算法的有效性。

Grasping Strategy of a Soft Gripper with Endoskeleton Structure

According to the requirements of mixed-flow flexible production on the gripper for the safe and reliable grasping of objects of different shapes, different qualities and easily damaged, a design idea of a novel jointed endoskeleton pneumatic soft gripper which separated the actuation and force-bearing function is proposed. And the specific structure design of the soft gripper is completed. For the problem of the grasping control strategy of the soft gripper, a pressure compensation algorithm based on real-time position detection is proposed. Through the flexible bending sensor embedded in the finger, the position of each finger segment of the finger is monitored in real time, and the current grasping state of the soft gripper is determined indirectly. The initial preload air pressure value of each finger segment is estimated, which improves the grasping success rate and efficiency. A grasping test was carried out on the soft gripper. The test results show that the soft gripper can grasp soft, irregular, fragile and fragile objects safely and reliably, which verifies the effectiveness of the grasping control algorithm.