基于主动包络和负压塑形的软体适形夹持器

doi:10.3901/JME.2019.12.215

机械工程学报 ›› 2019, Vol. 55 ›› Issue (12): 215-221.doi: 10.3901/JME.2019.12.215

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基于主动包络和负压塑形的软体适形夹持器

郭钟华¹, 李小宁¹, 林浩鹏^1,2

1. 南京理工大学机械工程学院南京 210094;
2. 上海飞机制造有限公司上海 200436

收稿日期:2018-06-20 修回日期:2018-12-21 出版日期:2019-06-20 发布日期:2019-06-20
通讯作者: 郭钟华(通信作者),女,1983年出生,博士,副教授,硕士研究生导师。主要研究方向为气动及机电一体化技术。E-mail:gzh@njust.edu.cn
作者简介:李小宁,男,1957年出生,博士,教授,博士研究生导师。主要研究方向为气动及机电一体化技术。E-mail:xnli@139.com;林浩鹏,男,1991年出生,硕士。主要研究方向为气动及机电一体化技术。E-mail:261412735@qq.com
基金资助:
国家自然科学基金（51305202）和江苏省自然科学基金（BK20130764）资助项目

Soft Adaptive Gripper with Active Enveloping Arms and Vacuum Jamming Technology

GUO Zhonghua¹, LI Xiaoning¹, LIN Haopeng^1,2

1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094;
2. Shanghai Aircraft Manufacturing Co., Ltd., Shanghai 200436

Received:2018-06-20 Revised:2018-12-21 Online:2019-06-20 Published:2019-06-20

摘要/Abstract

摘要： 借鉴软体生物的结构和功能特点，设计并制作一种气动软体塑形夹持装置。该装置的夹爪由软体材料制成，软体夹爪能张开和闭合，实现双向弯曲以夹持或释放物体。同时，提出多腔室软体和负压塑形单元相结合的结构型式，并得出技术实现方案，即用细颗粒物填充末端气囊，充气后先适应物体外轮廓发生变形，继而抽真空使气囊固化为夹持物外形，从而与物体形成可靠约束，对于外形尺寸不规则的异型件有良好的夹持效果。试制完成的塑形夹持装置以气压驱动的软体结构增大夹持装置与物体的接触面积，并采用负压塑形技术以大幅提高形状适应能力。研究成果为软体塑形夹持装置提供了理论和技术支持，可为食品分拣、海洋生物研究、混流生产等领域提供有益参考。

关键词: 负压塑形, 气动夹持器, 软体驱动器

Abstract: A new type of pneumatic soft gripper is designed and fabricated inspired by the structure and function of mollusk. The gripper jaws of this device are made of soft silicone, which open and close, and bidirectional bending is achieved to hold or release the object. At the same time, a new structure composed of high-density elastic multi-chamber soft body and vacuum shaping structures is proposed. The technical scheme is made to fill the shaping bag with granular material to conform to the object shape and a reliable constraint is realized between the gripper and the object under vacuum conditions. Therefore, good gripping performance is obtained for unfamiliar objects of variable shapes. In the fabricated device, soft adaptive bodies enlarge the contact area to adapt to the work-piece. Meanwhile, the vacuum shaping elements are added to increase shape adaptive capacity. It is useful for soft adaptive gripper design, to provide theoretical and technical support for food selection, marine biology study and mixed flow manufacturing lines.

Key words: pneumatic gripper, soft actuator, vacuum shaping

中图分类号:

TH138

郭钟华, 李小宁, 林浩鹏. 基于主动包络和负压塑形的软体适形夹持器[J]. 机械工程学报, 2019, 55(12): 215-221.

GUO Zhonghua, LI Xiaoning, LIN Haopeng. Soft Adaptive Gripper with Active Enveloping Arms and Vacuum Jamming Technology[J]. Journal of Mechanical Engineering, 2019, 55(12): 215-221.

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基于主动包络和负压塑形的软体适形夹持器

Soft Adaptive Gripper with Active Enveloping Arms and Vacuum Jamming Technology

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