• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (3): 56-63.doi: 10.3901/JME.2020.03.056

• 机器人及机构学 • 上一篇    下一篇

大负载气动软体末端执行器的设计与分析

李海利1, 姚建涛1,2, 张泰铭1, 周盼1, 柳春烨1, 陈新博1   

  1. 1. 燕山大学河北省并联机器人与机电系统重点实验室 秦皇岛 066004;
    2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004
  • 收稿日期:2019-02-24 修回日期:2019-08-19 出版日期:2020-02-05 发布日期:2020-04-09
  • 通讯作者: 姚建涛(通信作者),男,1980年出生,教授。主要研究方向为机器人机构理论及多维力感知机构,仿生与软体机器人理论及应用。E-mail:jtyao@ysu.edu.cn
  • 作者简介:李海利,男,1992年生,博士研究生。主要研究方向为仿生与软体机器人理论及应用。E-mail:1050985578@qq.com
  • 基金资助:
    国家自然科学基金(51975505,51675459)、河北省自然科学基金京津冀合作专项(E2017203387)资助项目和河北省研究生创新项目(CXZZBS2019045)资助项目。

Design and Analysis of a High-load Pneumatic Soft Gripper

LI Haili1, YAO Jiantao1,2, ZHANG Taiming1, ZHOU Pan1, LIU Chunye1, CHEN Xinbo1   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004
  • Received:2019-02-24 Revised:2019-08-19 Online:2020-02-05 Published:2020-04-09

摘要: 软体末端执行器是软体机器人领域最具有发展潜力的研究方向之一,但由于软体材料本身的固有性质以及设计与制造技术手段的限制,其普遍存在负载能力低的不足,这也成为了软体末端向多领域拓展所必须解决的难题。基于纤维增强型软体驱动器及其布局优化方法,提出了一种大负载气动软体末端执行器,在结构上采用了单根气动人工肌肉缠绕布局的新型抓持体构造方法,在抓取原理上采用了封闭内腔收缩包裹的方式,在控制上通过充气和放气两个开关动作便可实现目标的抓取和释放。其融合了大力型软体驱动器与封闭结构的双重特性,充分发挥了编织网型气动人工肌肉收缩力大和软体封闭保持体受力稳定性好的优点,大幅度提升了气动软体执行器的抓取力。试验证明所提出的大负载软体末端能够自动适应不同形状和材料的物体,负载能力可达到30 kg,是其自重的40多倍。研究成果为大负载软体末端的研制提供了新思路、新方法,有望从实验室进入实际应用领域。

关键词: 软体机器人, 末端执行器, 大负载, 气动人工肌肉, 缠绕

Abstract: Pneumatic grippers are one of the most potential research directions in the field of soft robotics. However, due to the inherent characteristics of soft materials and the limitations of design and manufacturing techniques, pneumatic grippers generally have a low load capacity, which has become a difficult problem that must be solved in the application of pneumatic grippers in many fields. Based on fiber-reinforced soft actuator and its layout optimization method, a high-load pneumatic soft gripper is proposed. And the gripping structure is constructed by optimizing the winding layout of the pneumatic artificial muscle; the gripping is enabled by the contraction of the cavity with closed structure; the target can be gripped and released by inflating and deflating the pneumatic artificial muscle. It combines a high-force soft actuator with a closed structure, which fully exertes the advantages of the large shrinkage force of the fiber shell type pneumatic artificial muscle and the good stability of the soft framework with closed stucture, and greatly improves the gripping force of pneumatic soft grippers. Experiments show that the proposed high-load pneumatic soft gripper can automatically adapt to objects with different shapes and in different materials. The load capacity can reach 30 kg, which is more than 40 times its own weight. In this work, the new ideas and methods for the development of high-load soft grippers are proposed, and the research results are expected to enter the practical application field from the laboratory.

Key words: soft robotics, grippers, high-load, pneumatic artificial muscle, winding

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