仿鸟喙微型气动软体机械手爪的设计及优化

方海峰; 黄希; 范纪华; 陈立威; 谷通顺

doi:10.13433/j.cnki.1003-8728.20200305

仿鸟喙微型气动软体机械手爪的设计及优化

doi: 10.13433/j.cnki.1003-8728.20200305

江苏科技大学机械工程学院, 江苏镇江 212003

基金项目:

国家自然科学基金青年基金项目 11502098

详细信息

作者简介:
方海峰(1984-), 副教授, 博士, 研究方向为机械优化设计、自动化技术与装备领域的研究, fanghale@163.com

中图分类号: TP242
计量
- 文章访问数: 214
- HTML全文浏览量: 66
- PDF下载量: 34
- 被引次数: 0
出版历程
- 收稿日期: 2020-06-29
- 刊出日期: 2022-01-01

Design and Optimization of Micro Pneumatic Soft Manipulator Gripper Imitating Bird′s Beak

School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, Jiangsu, China

摘要

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。
- 仿生鸟喙 /
- 抓取准确性 /
- 微型物体 /
- 优化设计
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.
- bionic beak /
- grasping accuracy /
- micro object /
- optimization design

HTML全文

图 1 鸟喙结构

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图 2 柔喙结构

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图 3 柔喙截面图

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图 4 制成的柔喙

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图 5 正压有限元分析结果

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图 6 负压有限元分析结果

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图 7 不同壁厚柔喙指尖距的变化情况

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图 8 不同壁厚有限元分析结果

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图 9 改进前后的结构对比图

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图 10 优化后模型有限元分析结果

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图 11 试验平台

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图 12 弯曲变形试验

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图 13 有限元分析与试验的结果对比

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图 14 抓紧力测量试验

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图 15 不同微型物体适应性试验

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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

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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

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