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