Design and Research of a Flexible Gripper with Variable Stiffness
A flexible jaw with variable stiffness is designed,it is achieved by varying the actual length of the soft finger.Researches on the software robot,especially the related variable stiffness software gripper are analyzed,together with its principle and driving mode,their advantages and disadvantages,and applicable environment.The clamping jaw body is made of silicone rubber,and the driving mode of the soft finger is pneumatic.Then,the feasibility of the soft finger design is verified through Abaqus finite element simulation.Then,a physical grab test is conducted to verify its good adaptability.The simulation results show that,the variable stiffness software jaw proposed retains the flexibility and flexibility of the soft finger itself,and the stiffness change well.It has good adaptability to different quality items,shows high safety in grabbing complex and fragile items,and has wide application potential.
variable stiffnessactual lengthsoft clawdesign and simulationgrab
万方数据
维普
