水弹折纸柔性抓手的结构设计与实验研究

曾阳浩; 朱姿娜; 史琦婧

doi:10.13433/j.cnki.1003-8728.20220127

水弹折纸柔性抓手的结构设计与实验研究

doi: 10.13433/j.cnki.1003-8728.20220127

上海工程技术大学机械与汽车工程学院, 上海 201620

基金项目:

国家自然科学基金项目 51775165

上海市大型构件智能制造机器人技术协同创新中兴开放基金项目 ZXP20211101

上海工程技术大学研究生科研创新项目 20KY0106

详细信息

作者简介:
曾阳浩(1998-), 硕士研究生, 研究方向为软体机器人, 18223254602@163.com

通讯作者:
朱姿娜, 副教授, 硕士生导师, zhuzina@126.com

中图分类号: TP241
计量
- 文章访问数: 81
- HTML全文浏览量: 80
- PDF下载量: 26
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-03
- 刊出日期: 2023-10-25

Structural Design and Experimental Research of Flexible Gripper for Waterbomb Origami

School of Mechanism and Automotive Engineer, Shanghai University of Engineering Science, Shanghai 201620, China

摘要

摘要: 提出了一种由水弹折纸为原理的轻量级折纸抓手。对水弹结构进行了介绍和几何分析，得到了形成水弹圆柱体可折叠条件，并介绍了抓取装置设计和制造方法。搭建了折纸抓手的抓取实验平台，对具有不同几何形状、质地和重量的物体进行了抓取和提升测试，测试了抓手轴向偏移抓取的能力，并分析了抓手负载能力随气压的变化关系。抓取实验表明该柔性抓手具有轴向偏移抓取、形状自适应抓取、抓力可控等优点。在食品、水果等质地柔软且质量较轻目标物的抓取及分拣领域具有的实用性。
- 折纸抓手 /
- 水弹结构 /
- 抓取测试 /
- 柔性抓取
Abstract: This paper proposes a lightweight origami gripper based on the waterbomb origami principle. Firstly, the structure of a waterbomb is introduced and its geometry is analyzed. The foldable conditions for forming the waterbomb′s cylinder are obtained, and the gripping device design and manufacturing method are presented. The gripping experimental platform of the origami gripper was built. The gripping and lifting of objects with different geometries, textures and weights were tested. The gripper′s axial offset gripping capability was also tested, and the relationship between the gripper′s load capacity and air pressure was analyzed. The experiments on gripping show that the flexible gripper has the advantage of axial offset gripping, shape adaptive gripping and controllable gripping force. It is useful to grasp and sort flexible and light objects such as food and fruits.
- origami gripper /
- waterbomb structure /
- gripping test /
- flexible gripping

HTML全文

图 1 水弹折纸

Figure 1. Waterbomb origami

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图 2 水弹圆柱体的几何关系图

Figure 2. The geometric relationship of cylinder of a waterbomb

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图 3 折纸骨架

Figure 3. The skeleton of origami

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图 4 折纸骨架的制作流程

Figure 4. The production process of the skeleton of origami

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图 5 橡胶密封膜

Figure 5. Rubber sealing film

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图 6 连接器结构

Figure 6. The structure of connector

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图 7 抓手的组成结构

Figure 7. The components of the gripper

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图 8 抓取实验平台

Figure 8. Gripping experimental platform

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图 9 折纸抓手控制原理图

Figure 9. The schematic diagram of origami gripper control

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图 10 抓取实验

Figure 10. Experiments on gripping

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图 11 轴向偏移抓取能力测试

Figure 11. Tests of axial offset gripping

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图 12 抓手负载随气压的变化情况

Figure 12. The variation of gripper′s load with air pressure

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表 1 位于圆柱坐标系中主要节点坐标

Table 1. Coordinates of main nodes in the cylindrical coordinate system

节点	r	φ	z
a	R	2ω	0
b	R	0	0
c		ω
d	Rcosω	ω	-l
e	R	2ω	-2l
f	R	0	-2l
g		ω

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表 2 抓手成功抓取的目标

Table 2. Objects to be successfully gripped by the gripper

类型	种类及质量
食物	橙子(160 g), 苹果(171 g), 香蕉(152 g), 鸡蛋(65 g), 芒果(226 g), 杨桃(140 g)
瓶子	易拉罐(357 g), 可乐瓶装(630 g), 矿泉水(583 g), 咖啡瓶(345 g), 墨水瓶(126 g),
其他	工具盒(162 g), 电钻(916 g), 方形木块(40 g), 卷尺(115 g), 鼠标(76 g), 乒乓球(2.6 g)

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