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.
关键词
柔性夹爪/柔性手指/多自由度/3D打印技术/Yeoh模型
Key words
flexible gripper/flexible finger/M-DOF(Multi-Degrees of Freedom)/3D printing technology/Yeoh model
维普
万方数据