| 三指柔性气动夹爪结构设计与实验 |
| |
| 引用本文： | 皮杰,柳军,徐磊,严旎娜,周科宏,钱明艳.三指柔性气动夹爪结构设计与实验[J].农业机械学报,2020,51(S1):93-101. |
| |
| 作者姓名： | 皮杰 柳军 徐磊 严旎娜 周科宏 钱明艳 |
| |
| 作者单位： | 江苏省农业科学院;江苏大学 |
| |
| 基金项目： | 江苏省农业科技自主创新资金项目(CX(19)3074)和农业部长江中下游设施农业工程重点实验室项目 |
| |
| 摘 要： | 针对水果表皮脆弱易损、不适合采用传统刚性夹爪抓取的问题，基于章鱼触手结构特征，结合仿生学原理和增材制造技术，设计并制作了一种结构简单、具有自适应性的由3个柔性手指和固定组件组成的适用于水果采摘的气动柔性夹爪。采用ANSYS模拟和测试柔性手指在不同气压下的弯曲情况，发现柔性手指可在低压下具有较大的弯曲变形，最大弯曲角为22.4°，气压为100kPa时，产生最大压力为2.38N；柔性夹爪的夹持力实验表明，在0~100kPa的压力范围，柔性夹爪可自适应抓取质量564g、直径100mm内的水果，并且水果表面没有损伤，抓取效果良好，达到设计目标要求。
|
| 关 键 词： | 柔性夹爪 仿生 自适应抓取 气动 实验 |
| 收稿时间： | 2020/7/30 0:00:00 |
Structure Design and Experiment of Three Finger Flexible Pneumatic Gripper |
| |
| Institution: | Jiangsu Academy of Agricultural Sciences;Jiangsu University |
| |
| Abstract: | In order to solve the problem that the fruit skin is fragile and not suitable to be grasped by traditional rigid gripper, based on the structural characteristics of octopus tentacle, combined with bionics principle and additive manufacturing technology, a kind of pneumatic flexible gripper with simple structure and adaptability, which was composed of three flexible fingers and fixed components, was designed and manufactured. ANSYS was used to simulate and test the bending of flexible fingers under different pressures. It was found that the flexible fingers could have large bending deformation under low pressure. The maximum bending angle was 22.4°and the maximum pressure was 2.38N when the air pressure was 100kPa. In order to test the gripping ability of the flexible gripper, a special test device was designed to study the clamping performance of the flexible gripper. The results showed that there was a good linear relationship between the grasping force of the flexible gripper and the input air pressure. Under the pressure of 100kPa, the maximum grasping force was 5.53N, and the actual load of the flexible gripper was 564g. The maximum gripping diameter of the flexible claw can reach 100mm. The effect was good and reached the design target. |
| |
| Keywords: | flexible gripper bionics adaptive grasping pneumatic experiment |
|
| 点击此处可从《农业机械学报》浏览原始摘要信息 |
| 点击此处可从《农业机械学报》下载免费的PDF全文 |
|
