The soft gripper has the advantages of good compliance,no damage and safe human-computer interaction perform-ance.However,due to the limit of its characteristics,such problems as insufficient rigidity and small clamping force occur often.In this article,based on the traditional fast pneumatic network structure,efforts are made to work out the scheme of soft gripper characterized by stiffness enhancement and hardness coupling.Firstly,with the help of the Yeoh constitutive model of the silicone rubber materials,the static force balance and the principle of virtual work,the kinematics and mechanical models of the stiffness-enhancement soft gripper are set up,and efforts are made to identify the relationship between the gripper finger's bending angle,the terminal contact force and the pressure.Secondly,ABAQUS is used to carry out the finite-element analysis on the grippers with different hardness structure.The gripper entity is made,and the experimental platform is built to obtain the data on the grip-per finger's actual deformation and the terminal contact force.In addition,the gripping effect is verified through gripping compar-ative experiment.The results show that compared with that of the traditional structure,the bending angle of the hardness-coupling structure reduces by 120° with the same driving pressure of 20 kPa;the terminal contact force increases by 0.1 N with the ulti-mate pressure;the optimal design is 05HA structure,with its gripping weight 3.42 times that of the traditional structure.
关键词
刚度增强/硬度耦合/弯曲变形/末端接触力
Key words
stiffness enhancement/hardness coupling/bending deformation/terminal contact force
维普
万方数据