高抓取能力人工肌肉型柔性机械手设计与验证

doi:10.3901/JME.2023.17.089

机械工程学报 ›› 2023, Vol. 59 ›› Issue (17): 89-96.doi: 10.3901/JME.2023.17.089

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高抓取能力人工肌肉型柔性机械手设计与验证

度红望, 许晓亚, 邵仁波, 熊伟, 王海涛

大连海事大学船舶机电装备研究所大连 116026

收稿日期:2022-11-04 修回日期:2023-03-23 出版日期:2023-09-05 发布日期:2023-11-16
作者简介:度红望,博士,副教授,博士研究生导师。主要研究方向为流体传动与控制、数字化设计与装配和海上救助技术与装备。E-mail:duhw_1984@dlmu.edu.cn
基金资助:
海底工程技术与装备国际联合研究中心开放基金（3132023357）和国家自然科学基金（52075065）资助项目。

High Grasp Ability Artificial Muscle Flexible Robot Design and Verification

DU Hongwang, XU Xiaoya, SHAO Renbo, XIONG Wei, WANG Haitao

Marine Electromechanical Equipment Research Institute, Dalian Maritime University, Dalian 116026

Received:2022-11-04 Revised:2023-03-23 Online:2023-09-05 Published:2023-11-16

摘要/Abstract

摘要： 针对现有柔性机械手抓取范围有限，负载能力小的问题，基于弯曲型人工肌肉设计了一种安装角度可调的四指柔性机械手。基于能量法进行了弯曲型人工肌肉的静力学分析与验证，单根执行器最大弯曲角度可达151°，最大输出力为3.2 N，执行器静力学模型平均误差分别为5.25%和8.13%。进一步，基于设计的四指柔性机械手，针对不同形状和大小的物体完成了抓取实验。结果表明，机械手最大抓取物体质量为1 050 g，最大尺寸为f226 mm，在抓取实验中单根执行器最大弯曲角度为93°。设计的机械手具有稳定的抓取性能，能够实现日常物品稳定的抓取。

关键词: 四指柔性机械手, 气动弯曲型人工肌肉, 高抓取能力, 静力学特性, 抓取实验

Abstract: In response to the existing flexible robotic scope and small load capacity, this article designed a four-finger flexible robot with an adjustable angle of installation angle. Based on the energy method, the static analysis and verification of bending artificial muscles have been performed. The maximum curved angle of the single actuator can reach 151°, the maximum output force is 3.2 N, and the average error of the actuator's static model is 5.25% and 8.13%, respectively. Further, the design four-finger flexible robotic player completed the crawling experiment for objects of different shapes and sizes. The results show that the maximum grabbing object of the robot is 1 050 g, the maximum size is f226 mm, and the maximum bending angle of the single-rooted actuator in the crawling experiment is 93°. The robots designed in this article have stable grasping performance and can achieve stable grasping daily items.

Key words: four-finger flexible manipulator, pneumatic bending artificial muscle, high gripping ability, static characteristics, grabbing experiment

中图分类号:

TG156

度红望, 许晓亚, 邵仁波, 熊伟, 王海涛. 高抓取能力人工肌肉型柔性机械手设计与验证[J]. 机械工程学报, 2023, 59(17): 89-96.

DU Hongwang, XU Xiaoya, SHAO Renbo, XIONG Wei, WANG Haitao. High Grasp Ability Artificial Muscle Flexible Robot Design and Verification[J]. Journal of Mechanical Engineering, 2023, 59(17): 89-96.

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高抓取能力人工肌肉型柔性机械手设计与验证

High Grasp Ability Artificial Muscle Flexible Robot Design and Verification

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