Aiming at the problem that flexible gripper grasping mode is relatively single and difficult to adapt to complex working conditions,the research group proposed a segmented flexible gripper with multiple degrees of freedom.The gripper was composed of three flexible fingers equipped with multiple independent air chambers.Each flexible finger adopted a segmented structure consisting of a front single air chamber and rear double air chambers.The mathematical model based on second-order Yeoh model was established and simulated.Subsequently,3D printing technology was used to produce the gripper object,followed by comprehensive grasping and external interaction experiments conducted using the designed multi-path control system.The results demonstrate that the gripper can effectively execute adaptive grasping as well as intricate hand movements such as screwing and pinching,underscoring its versatility and strong adaptability.
flexible gripperflexible fingerM-DOF(Multi-Degrees of Freedom)3D printing technologyYeoh model
万方数据
维普
