Modeling and experiment of soft robotic picking hand based on fin ray effect
Aiming at the problem that it is difficult for the existing modeling and analysis methods of soft finger based on fin ray effect to meet the requirements of high precision and small amounts of calculation,we proposed approximately regarding the soft finger as concatenated four-bar mechanisms by observing the soft finger deformation.The theoretical model to solve contact force and actuating torque was established based on the principle of virtual work when the deformation state is given.The deformation recovery torque was modeled using linearly elastic torsional spring,and then an improved particle swarm algorithm was pro-grammed to solve the stiffness coefficient of the torsional spring of each phalanx.Based on the Abaqus fi-nite element model and combined with the secondary development,the relationship between actuating torque and pressure,joint angle was obtained,and then fitted with the aid of BP neural network.Last,an experiment platform was built to measure the grip force of the soft robotic picking hand.The results showed that the absolute relative error of the model was less than 8.6％,which was equivalent to that of the finite element model.The values of actuating torque calculated by BP neural network shared the same trend with the values measured and the relative error was under 12.7％.
soft robotic handfin ray effectprinciple of virtual workfinite element analysisparticle swarm algorithm
万方数据
维普
