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

doi:10.3901/JME.2024.21.086

Abstract

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

CLC Number:

TP242

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.

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