如何控制工业夹爪对易损物体的夹持力是一件具有挑战的任务,通常是利用有着力传感器的电动夹爪进行反馈控制,但这种方法昂贵且额外增加了夹爪的复杂程度.基于直书写3D打印,设计了一种内嵌力敏电阻器(FSR)的智能硅橡胶泡沫,安装在气动夹爪的指尖,不仅能监测夹持状态,还能在气压超过阈值后一定范围内,保持夹持力的恒定,以保护物体.实验结果表明:智能泡沫在4～12N的工作范围内,误差不超过1.5N.当气压在450～560 kPa范围内,能维持夹持力约14.6 N.
Application of smart foam with embedded FSR in pneumatic gripper
Controlling the gripping force of industrial gripper on fragile objects is a challenging task,usually force sensors with electrical gripper is used for feedback control,but this method is expensive and adds additional complexity to the gripper.A smart silicone rubber foam with an embedded force senstive resistor(FSR)is designed based on direct ink writing 3 D printing and mounted on the fingertips of pneumatic gripper to not only monitor the gripping state but also to maintain a constant gripping force to protect the object within a certain range after the air pressure exceeds a threshold.Experimental results show that the smart foam operates within a range of 4～12 N with an error of no more than 1.5 N.When the air pressure is in the range of 450～560 kPa,the gripping force is maintained at approximately 14.6 N.
direct ink writingpneumatic grippersilicone rubberstress plateauconstant forceforce sensitive resistor(FSR)
NETL
NSTL
万方数据
维普
