Design and Optimization of Micro Pneumatic Soft Manipulator Gripper Imitating Bird′s Beak
-
摘要: 为实现微型易碎、不规则物体的稳定抓取,结合软体材料的柔顺性和鸟喙结构抓取的准确性,提出一种仿鸟喙微型气动软体机械手爪,该机械手爪不仅具有一般软体手爪良好的环境适应性,而且结构更加简洁,对微型物体尤其适用。利用Yeoh本构模型和Ansys软件,对手爪的弯曲特性做了有限元仿真,并根据仿真结果进行变壁厚和局部填充的优化。对优化后的手爪进行了弯曲特性、抓取力测试试验和适应性试验,验证了仿鸟喙微型气动软体机械手爪的可行性。Abstract: In order to realize the stable grasp of micro fragile and irregular objects, combined with the flexibility of soft materials and the accuracy of beak structure grasping, a bionic beak micro pneumatic soft mechanical gripper is proposed and designed. The mechanical gripper not only has good environmental adaptability of general soft gripper, but also has more concise structure and is especially suitable for grasping micro objects. Using Yeoh constitutive model and ANSYS software, the bending characteristics of the bionic gripper are simulated by finite element method, and the optimization of variable wall thickness and local filling is carried out according to the simulation results. The bending characteristics, grasping force and adaptability of the optimized bionic gripper were tested, and the feasibility of the bionic beak micro pneumatic soft mechanical gripper was verified.
-
Key words:
- bionic beak /
- grasping accuracy /
- micro object /
- optimization design
-
表 1 不同气压下测力计示数
压力值/kPa 测力计示数/N -10 0.17 -20 0.42 -30 0.71 -40 0.83 -50 0.96 -60 1.09 -70 1.20 表 2 微型物体参数
物体名称 直径/mm 质量/g 石英晶振 0.45 0.53 电解电容 0.52 0.38 玉珠 0.54 0.20 黄金挂坠 1.08 1.79 精密点胶针 0.06 0.16 铅笔芯 0.05 0.05 -
[1] RUS D, TOLLEY M T. Design, fabrication and control of soft robots[J]. Nature, 2015, 521(7553): 467-475 doi: 10.1038/nature14543 [2] WEHNER M, TRUBY R L, FITZGERALD D J, et al. An integrated design and fabrication strategy for entirely soft, autonomous robots[J]. Nature, 2016, 536(7617): 451-455 doi: 10.1038/nature19100 [3] CIANCHETTI M, CALISTI M, MARGHERI L, et al. Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot[J]. Bioinspiration & Biomimetics, 2015, 10(3): 035003 http://www.onacademic.com/detail/journal_1000037758831910_deb6.html [4] LI K K, JIANG H Z, WANG S Y, et al. A soft robotic fish with variable-stiffness decoupled mechanisms[J]. Journal of Bionic Engineering, 2018, 15(4): 599-609 doi: 10.1007/s42235-018-0049-1 [5] GIANNACCINI M E, XIANG C Q, ATYABI A, et al. Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning[J]. Soft Robotics, 2018, 5(1): 54-70 doi: 10.1089/soro.2016.0066 [6] LI S G, STAMPFLI J J, XU H J, et al. A vacuum-driven origami "Magic-ball" soft gripper[C]//2019 International Conference on Robotics and Automation. Montreal, QC, Canada: IEEE, 2019 [7] 贾宝贤, 刘永红, 杨毅. 仿蚯蚓机器人蠕动装置的研究[J]. 机器人, 2000, 22(5): 415-419 doi: 10.3321/j.issn:1002-0446.2000.05.014JIA B X, LIU Y H, YANG Y. A study of a crawling device in imitated-earthworm robot[J]. Robot, 2000, 22(5): 415-419 (in Chinese) doi: 10.3321/j.issn:1002-0446.2000.05.014 [8] 王绪, 费燕琼, 许红伟, 等. 仿尺蠖蠕动模块化软体机器人的设计[J]. 高技术通讯, 2015, 25(8): 829-834 https://www.cnki.com.cn/Article/CJFDTOTAL-GJSX2015Z1011.htmWANG X, FEI Y Q, XU H W, et al. Design of modular soft robots imitating inchworm peristalsis[J]. Chinese High Technology Letters, 2015, 25(8): 829-834 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GJSX2015Z1011.htm [9] 姚建涛, 陈新博, 陈俊涛, 等. 轮足式仿生软体机器人设计与运动分析[J]. 机械工程学报, 2019, 55(5): 27-35 https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201905004.htmYAO J T, CHEN X B, CHEN J T, et al. Design and motion analysis of a wheel-walking bionic soft robot[J]. Journal of Mechanical Engineering, 2019, 55(5): 27-35 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201905004.htm [10] 樊继壮, 于庆国, 袁博文, 等. 软体仿蛙游动机器人关节式气动致动器研制[J]. 机器人, 2018, 40(5): 578-586 https://www.cnki.com.cn/Article/CJFDTOTAL-JQRR201805002.htmFAN J Z, YU Q G, YUAN B W, et al. Development of a joint-like pneumatic actuator applied to soft frog-inspired swimming robot[J]. Robot, 2018, 40(5): 578-586 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JQRR201805002.htm [11] 费烨, 赵梓淇, 沈昕慧, 等. 大斑啄木鸟啄击运动观测及运动机理分析[J]. 沈阳建筑大学学报, 2019, 35(6): 1111-1118 https://www.cnki.com.cn/Article/CJFDTOTAL-SYJZ201906020.htmFEI Y, ZHAO Z Q, SHEN X H, et al. Observation and motion mechanism analysis of pecking motion of great spotted woodpecker[J]. Journal of Shenyang Jianzhu University, 2019, 35(6): 1111-1118 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-SYJZ201906020.htm [12] 苏杭. 多种材料复合的仿巨嘴鸟喙轻质结构设计与力学性能研究[D]. 南京: 南京航空航天大学, 2018SU H. Research on the lightweight composite structure inspired by the Toucan beak and its mechanical performance[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018 (in Chinese) [13] ILIEVSKI F, MAZZEO A D, SHEPHERD R F, et al. Soft robotics for chemists[J]. Angewandte Chemie International Edition, 2011, 50(8): 1890-1895 doi: 10.1002/anie.201006464 [14] 孙沂琳, 张秋菊, 陈宵燕. 气动软体驱动器设计与建模[J]. 食品与机械, 2018, 34(11): 101-105 https://www.cnki.com.cn/Article/CJFDTOTAL-SPJX201811024.htmSUN Y L, ZHANG Q J, CHEN X Y. Design and modeling of a soft pneumatic actuator[J]. Food & Machinery, 2018, 34(11): 101-105 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-SPJX201811024.htm [15] 常琪. 仿生表面织构的摩擦及粘附性能研究[D]. 南京: 南京航空航天大学, 2018CHANG Q. Research on the friction and adhesion properties of bionic surface texture[D]. Nanjing: Nanjing University of Aeronautics and Astronautics (in Chinese) [16] 范需, 戴宁, 王宏涛, 伟等. 气动网格软体驱动器弯曲变形预测方法[J]. 中国机械工程, 2020, 31(9): 1108-1114 doi: 10.3969/j.issn.1004-132X.2020.09.013FAN X, DAI N, WANG H T, et al. Bending deformation prediction method of soft actuators with pneumatic networks[J]. China Mechanical Engineering, 2020, 31(9): 1108-1114 (in Chinese) doi: 10.3969/j.issn.1004-132X.2020.09.013 [17] MUSTAZA S M, ELSAYED Y, LEKAKOU C, et al. Dynamic modeling of fiber-reinforced soft manipulator: a visco-hyperelastic material-based continuum mechanics approach[J]. Soft Robotics, 2019, 6(3): 305-317 doi: 10.1089/soro.2018.0032 [18] 余家泉, 陈雄, 周长省, 等. EPDM薄膜橡胶包覆材料的粘-超弹本构模型研究[J]. 推进技术, 2015, 36(3): 465-470 https://www.cnki.com.cn/Article/CJFDTOTAL-TJJS201503021.htmYU J Q, CHEN X, ZHOU C S, et al. Visco-hyperelastic constitutive model for filmy EPDM inhibitor[J]. Journal of Propulsion Technology, 2015, 36(3): 465-470 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-TJJS201503021.htm [19] SCHAFFNER M, FABER J A, PIANEGONDA L, et al. 3D printing of robotic soft actuators with programmable bioinspired architectures[J]. Nature Communications, 2018, 9(1): 878 doi: 10.1038/s41467-018-03216-w [20] ORTENZI V, MARTURI N, MISTRY M, et al. Vision-based framework to estimate robot configuration and kinematic constraints[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(5): 2402-2412. doi: 10.1109/TMECH.2018.2865758 [21] 王华, 康荣杰, 王兴坚, 等. 软体弯曲驱动器设计与建模[J]. 北京航空航天大学学报, 2017, 43(5): 1053-1060 https://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201705026.htmWANG H, KANG R J, WANG X J, et al. Design and modeling of a soft bending actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 1053-1060 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201705026.htm [22] 韩奉林, 李鹏, 李明辉, 等. 颗粒流驱动变刚度弯曲软体驱动器的设计及运动仿真[J]. 中国机械工程, 2020, 31(8): 890-897 doi: 10.3969/j.issn.1004-132X.2020.08.002HAN F L, LI P, LI M H, et al. Design and motion simulation of variable stiffness bending soft actuators driven by granular flow[J]. China Mechanical Engineering, 2020, 31(8): 890-897 (in Chinese) doi: 10.3969/j.issn.1004-132X.2020.08.002