基于抓取刚度增强的刚软耦合仿人手设计与实验

doi:10.3901/JME.2024.21.086

机械工程学报 ›› 2024, Vol. 60 ›› Issue (21): 86-98.doi: 10.3901/JME.2024.21.086

扫码分享

基于抓取刚度增强的刚软耦合仿人手设计与实验

李泳耀^1,2, 江磊^1,2, 刘宇飞^1,2, 杜宇³, 丛明⁴

1. 中国北方车辆研究所无人中心北京 100072;
2. 群体协同与自主实验室北京 100072;
3. 大连交通大学机械工程学院大连 116028;
4. 大连理工大学机械工程学院大连 116024

收稿日期:2023-11-06 修回日期:2024-04-15 发布日期:2024-12-24
通讯作者: 江磊，男，1980年出生，研究员。主要研究方向为机器人与自主系统、智能仿生行走。E-mail：feist201@qq.com
作者简介:李泳耀,男,1991年出生,博士后。主要研究方向为人形机器人关键技术、仿生与软体机器人理论及应用。E-mail:liyongyao1991@163.com;刘宇飞,男,1988年出生,副研究员。主要研究方向为双/四/六足机器人关键技术、星球车控制技术。E-mail:liuyufei_hit@163.com
基金资助:
国家自然科学基金资助项目(51975003)。

Design and Experiment for Rigid-soft Coupling Humanoid Robotic Hands Based on Grasping Stiffness Enhancement Method

LI Yongyao^1,2, JIANG Lei^1,2, LIU Yufei^1,2, DU Yu³, CONG Ming⁴

1. Unmanned Vehicle Research Center, China North Vehicle Research Institute, Beijing 100072;
2. Collective Intelligence & Collaboration Laboratory, Beijing 100072;
3. School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028;
4. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024

Received:2023-11-06 Revised:2024-04-15 Published:2024-12-24

摘要/Abstract

摘要： 仿人手在抓取物体时需具备运动自适应性，在与非结构环境交互时需体现出良好的柔顺性和抓取刚度。为此，借鉴人类手指天然的刚软柔性结构及抓取特征，提出基于抓取刚度增强的刚软耦合仿人手设计制造方法。首先，提出仿人手指的刚软耦合设计原理及手指参数选择方法，并将其扩展应用于多关节手指情况。其次，研究手指柔性体在抓取刚度增强前后外力作用下的变形情况，以实现两指夹爪的稳定抓取。在此基础上，提出刚软耦合仿人手指的多材料分层制造方法，并进行仿人手的总体结构设计。最后，开展刚软耦合仿人手抓取实验研究，验证所提方法的有效性，并进一步讨论刚软耦合手指的其他潜在应用方式。

关键词: 仿人手指, 刚软耦合, 抓取刚度增强, 自适应抓取

Abstract: When grasping objects, humanoid robotic hands need to possess motion adaptability while demonstrating good flexibility and grasping stiffness when interacting with unstructured environments. Therefore, this research proposes a novel design and manufacturing method for rigid-soft coupling humanoid robotic hands based on grasping stiffness enhancement method, inspired by the natural rigid-soft structure and grasping characteristics of human fingers. Firstly, the principle of rigid-soft coupling design for humanoid robotic fingers and the methodology for selecting finger parameters are presented. The study then expands the application of these principle and methodology to accommodate multi-joint fingers. Secondly, an in-depth analysis of the deformation of the finger's flexible body under external forces, both before and after enhancing grasping stiffness, is conducted to achieve stable grasping with a two-fingered gripper. On this basis, a multi-material layering manufacturing method for rigid-soft coupling humanoid robotic fingers is proposed, along with the overall structural design of the humanoid robotic hand. Finally, a series of experimental studies on grasping with the rigid-soft coupling humanoid robotic hand is performed to validate the effectiveness of the proposed method, followed by a comprehensive discussion of potential alternative applications for the rigid-soft coupling fingers.

Key words: humanoid robotic finger, rigid-soft coupling, grasping stiffness enhancement, adaptive grasping

中图分类号:

TP242

李泳耀, 江磊, 刘宇飞, 杜宇, 丛明. 基于抓取刚度增强的刚软耦合仿人手设计与实验[J]. 机械工程学报, 2024, 60(21): 86-98.

LI Yongyao, JIANG Lei, LIU Yufei, DU Yu, CONG Ming. Design and Experiment for Rigid-soft Coupling Humanoid Robotic Hands Based on Grasping Stiffness Enhancement Method[J]. Journal of Mechanical Engineering, 2024, 60(21): 86-98.

参考文献

[1] 王田苗，郝雨飞，杨兴帮，等. 软体机器人：结构、驱动、传感与控制[J]. 机械工程学报，2017，53(13)：1-13. WANG Tianmiao，HAO Yufei，YANG Xingbang，et al. Soft robotics：structure，actuation，sensing and control[J]. Journal of Mechanical Engineering，2017，53(13)：1-13.
[2] KAZEMI M，VALOIS J，BAGNELL J A，et al. Robust object grasping using force compliant motion primitives[C]// Robotics：Science and Systems (RSS). Sydney：Robotics：Science and Systems，2012：177-185.
[3] KAPPLER D，CHANG L Y，POLLARD N S，et al. Templates for pre-grasp sliding interactions[J]. Robotics and Autonomous Systems，2012，60(3)：411-423.
[4] DEIMEL R，BROCK O. A novel type of compliant and underactuated robotic hand for dexterous grasping[J]. The International Journal of Robotics Research，2016，35(1-3)：161-185.
[5] WU Z，LI X，GUO Z. A novel pneumatic soft gripper with a jointed endoskeleton structure[J]. Chinese Journal of Mechanical Engineering，2019，32：78.
[6] DOLLAR A M，HOWE R D. The highly adaptive SDM hand：design and performance evaluation[J]. International Journal of Robotics Research，2010，29(5)：585-597.
[7] 张进华，王韬，洪军，等. 软体机械手研究综述[J]. 机械工程学报，2017，53(13)：19-28. ZHANG Jinhua，WANG Tao，HONG Jun，et al. Review of soft-bodied manipulator[J]. Journal of Mechanical Engineering，2017，53(13)：19-28.
[8] MA R R，BELTER J T，DOLLAR A M. Hybrid deposition manufacturing：design strategies for multimaterial mechanisms via three-dimensional printing and material deposition[J]. Journal of Mechanisms and Robotics，2015，7(2)：21002.
[9] MA R，DOLLAR A. Yale openhand project：optimizing open-source hand designs for ease of fabrication and adoption[J]. IEEE Robotics & Automation Magazine，2017，24(1)：32-40.
[10] ODHNER L U，JENTOFT L P，CLAFFEE M R，et al. A compliant，underactuated hand for robust manipulation[J]. International Journal of Robotics Research，2014，33(5)：736-752.
[11] HUGHES J A E，MAIOLINO P，IIDA F. An anthropomorphic soft skeleton hand exploiting conditional models for piano playing[J]. Science Robotics，2018，3(25)：eaau3098.
[12] PARK W，SEO S，BAE J. A hybrid gripper with soft material and rigid structures[J]. IEEE Robotics and Automation Letters，2018，4(1)：65-72.
[13] HAM K，HAN J，PARK Y. Soft gripper using variable stiffness mechanism and its application[J]. International Journal of Precision Engineering and Manufacturing，2018，19(4)：487-494.
[14] BROWN E，RODENBERG N，AMEND J，et al. Universal robotic gripper based on the jamming of granular material[J]. Proceedings of the National Academy of Sciences，2010，107(44)：18809.
[15] KIM Y，CHENG S，KIM S，et al. A novel layer jamming mechanism with tunable stiffness capability for minimally invasive surgery[J]. IEEE Transactions on Robotics，2013，29(4)：1031-1042.
[16] AMEND J，LIPSON H. The JamHand：dexterous manipulation with minimal actuation[J]. Soft robotics，2017，4(1)：70-80.
[17] NARANG Y，DEGIRMENCI A，VLASSAK J J，et al. Transforming the dynamic response of robotic structures and systems through laminar jamming[J]. IEEE Robotics & Automation Letters，2017，3(2)：688-695.
[18] NARANG Y S，VLASSAK J J，HOWE R D. Mechanically versatile soft machines through laminar jamming[J]. Advanced Functional Materials，2018，28(17)：1707136.
[19] RICH S，JANG S H，PARK Y L，et al. Liquid metal-conductive thermoplastic elastomer integration for low-voltage stiffness tuning[J]. Advanced Materials Technologies，2017，2(12)：1700179.
[20] ARAI F，MORISHIMA K，KASUGAI T，et al. Bio-micromanipulation (new direction for operation improvement)[C]// IEEE/RSJ International Conference on Intelligent Robot and Systems (IROS). Grenoble：IEEE/RSJ International Conference on Intelligent Robot and Systems，1997：1300-1305.
[21] FIROUZEH A，PAIK J. An underactuated origami gripper with adjustable stiffness joints for multiple grasp modes[J]. Smart Material Structures，2017，26(5)：055035.
[22] SHINTAKE J，SCHUBERT B，ROSSET S，et al. Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg：IEEE/RSJ International Conference on Intelligent Robots and Systems，2015：1097-1102.
[23] YANG Y，CHEN Y，LI Y，et al. Bioinspired robotic fingers based on pneumatic actuator and 3D printing of smart material[J]. Soft Robotics，2017，4(2)：147.
[24] SARWARK J F. Essentials of musculoskeletal care[M]. Rosemont：American Academy of Orthopedic Surgeons，2010.
[25] WEI W，ZHOU B，FAN B，et al. An adaptive hand exoskeleton for teleoperation system[J]. Chinese Journal of Mechanical Engineering，2023，36：60.
[26] KIM B，LEE S B，LEE J，et al. A comparison among Neo-Hookean model，Mooney-Rivlin model，and Ogden model for chloroprene rubber[J]. International Journal of Precision Engineering and Manufacturing，2012，13(5)：759-764.
[27] 李雪冰，危银涛. 一种改进的Yeoh超弹性材料本构模型[J]. 工程力学，2016，33(12)：38-43. LI Xuebing，WEI Yintao. An improved Yeoh constitutive model for hyperelastic material[J]. Engineering Mechanics，2016，33(12)：38-43.
[28] 黄建龙，解广娟，刘正伟. 基于Mooney-Rivlin模型和Yeoh模型的超弹性橡胶材料有限元分析[J]. 橡胶工业，2008，55(8)：467-471. HUANG Jianlong，XIE Guangjuan，LIU Zhengwei. FEA of hyperelastic rubber material based on Mooney-Rivlin model and Yeoh model[J]. China Rubber Industry，2008，55(8)：467-471.
[29] 王建平，闫池辉，张盼盼，等. 基于Neo-Hookean本构模型的人体膝关节韧带力学性能测试分析[J]. 上海理工大学学报，2017，39(6)：580-585. WANG Jianping，YAN Chihui，ZHANG Panpan，et al. Mechanical properties test and analysis on human knee ligaments based on the Neo-Hookean constitutive model[J]. Journal of University of Shanghai for Science and Technology，2017，39(6)：580-585.
[30] ELKOURA G，SINGH K. Handrix：Animating the human hand[C]// Proceedings of the 2003 ACM SIGGRAPH/ Eurographics Symposium on Computer Animation. San Diego：Symposium on Computer Animation，2003：110-119.
[31] ZHANG Y，DENG H，ZHONG G. Humanoid design of mechanical fingers using a motion coupling and shape-adaptive linkage mechanism[J]. Journal of Bionic Engineering，2018，15(1)：94-105.
[32] POLYGERINOS P，CORRELL N，MORIN S A，et al. Soft robotics：Review of fluid-driven intrinsically soft devices; manufacturing，sensing，control，and applications in human-robot interaction[J]. Advanced Engineering Materials，2017，19(12)：1700016.
[33] LE H M，DO T N，PHEE S J. A survey on actuators-driven surgical robots[J]. Sensors and Actuators A：Physical，2016，247：323-354.

基于抓取刚度增强的刚软耦合仿人手设计与实验

Design and Experiment for Rigid-soft Coupling Humanoid Robotic Hands Based on Grasping Stiffness Enhancement Method

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics

本文评价