| 混合阻塞变刚度软手指设计与实验 |
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| 引用本文： | 李东民,马文平,王雨,方佳琪,张国辉,丁国伟.混合阻塞变刚度软手指设计与实验[J].农业机械学报,2024,55(1):436-445,458. |
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| 作者姓名： | 李东民 马文平 王雨 方佳琪 张国辉 丁国伟 |
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| 作者单位： | 山东科技大学 |
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| 基金项目： | 国家自然科学基金项目(52174145)、山东省自然科学基金项目(ZR2021MF120、ZR2020MF101)、山东省高等学校科技计划项目（J18KB020）和泰安市科技创新发展项目（2021GX052） |
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| 摘 要： | 为了解决单一阻塞介质变刚度软机械手抓取复杂外形物体效果不佳的问题，受人体手指结构启发，设计了一种仿指腹结构的混合阻塞变刚度软手指。将其设计为双层结构，外层为气动驱动器，内层为基于主动层干扰与被动颗粒阻塞的混合阻塞变刚度层，使得软手指自动贴合被抓取对象，实现主动驱动的被动适应，并通过调整刚度实现可靠抓取。基于传统缝纫工艺，采用超弹性硅胶材料制造软手指。采用Euler-Bernoulli梁理论和虚功原理，建立了基于悬臂梁结构下的多材料软手指的刚度控制模型，并据此提出增大整体刚度的材料筛选方法。弯曲特性实验表明软手指的弯曲性能优异。变刚度和抓取实验结果表明，混合阻塞软手指刚度增大4.6倍，建立的刚度模型最大相对误差为3.4%；在抓取对象表面粗糙度增大的条件下，软手指拉脱力仍增大17%，达到1.7N；相较于单阻塞介质软手指，抓取成功率和承载能力均得到显著提高。
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| 关 键 词： | 软手指 变刚度 混合阻塞 层干扰 |
| 收稿时间： | 2023/6/5 0:00:00 |
Design and Experiment of Hybrid Jamming Variable Stiffness Soft Finger |
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| LI Dongmin,MA Wenping,WANG Yu,FANG Jiaqi,ZHANG Guohui,DING Guowei.Design and Experiment of Hybrid Jamming Variable Stiffness Soft Finger[J].Transactions of the Chinese Society of Agricultural Machinery,2024,55(1):436-445,458. |
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| Authors: | LI Dongmin MA Wenping WANG Yu FANG Jiaqi ZHANG Guohui DING Guowei |
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| Institution: | Shandong University of Science and Technology |
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| Abstract: | In order to improve the grasping effect on complex shaped objects of the variable stiffness soft robotic arm with a single jamming medium, inspired by the structure of human fingers, a variable stiffness soft finger with hybrid jamming methods imitating the finger pulp structure was designed. It was a double-layer structure, where the outer layer was used for a pneumatic actuator, and the inner layer was used for a variable stiffness layer with hybrid jamming methods based on active layer jamming and passive particle jamming methods, which can facilitate the soft fingers to fit the profiles of objects grasped automatically, and achieve the effects of passive adaptation under active driving, and objects grasping reliably by stiffness adjustment. Based on the traditional sewing techniques, the soft fingers were manufactured with hyperelastic silicone material. A stiffness control model for multi-material soft fingers based on cantilever beam structure was established by using Euler-Bernoulli beam theory and virtual work principle, furthermore, a selection rule to increase the overall material stiffness was proposed based on the stiffness control model. Experimental results on bendability showed the excellent bendability of the soft fingers. Besides, the stiffness variation and objects grasping experimental results showed that the stiffness of the soft fingers with hybrid jamming method was increased by 4.6 times, and the maximum relative error of the stiffness control model established was only 3.4%. Despite of increasing the surface roughness of the objects grasped, the detachment force of the soft fingers was still increased by 17%, which reached 1.7N. Therefore, compared with the soft fingers with single jamming medium, the grasp success rate and load capacity were improved significantly. |
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| Keywords: | soft finger variable stiffness hybrid jamming layer jamming |
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