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基于鳍条效应的柔性夹爪设计与试验研究
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中国电子学会-腾讯RoboticsX犀牛鸟专项研究计划(2020-01-005);福山区深化拓展“聚福英才计划”专项项目


Design and Experimental Research of Flexible Gripper Based on Fin Ray Effect
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    摘要:

    针对协作机器人在非结构化或动态变化环境中,对随机目标物体抓取困难的问题,参考鳍条结构,采用热塑性聚氨酯弹性体,结合增材制造技术,提出一种自适应柔性夹爪的解决方案。利用SolidWorks建立模型,在有限元分析软件ANSYS Workbench中通过虚拟正交试验进行静力学分析,完成夹爪结构的优化。在协作机器人Baxter上进行抓取试验。结果表明:设计的柔性夹爪能够满足对日常用品抓取的需要,在抓取形状各异的物体时效果良好,具有较好的自适应性,能够实现无损抓取。

    Abstract:

    Aiming at the problem that collaborative robots are difficult to grasp random target objects in unstructured or dynamically changing environments, taking the fin ray structure as refer, by using thermoplastic polyurethane elastomer combined with additive manufacturing technology, an adaptive flexible gripper solution was proposed. SolidWorks was used to build the model, and static analysis was performed by using virtual orthogonal test in the finite element analysis software ANSYS Workbench to complete the optimization of the gripper structure. A grasping experiment was carried out on the collaborative robot Baxter. The results prove that the designed flexible gripper can meet the grasping needs of daily necessities. It has good effect in grasping objects with different shapes and has good adaptability, which can achieve non-destructive grasping.

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关玉坤,侯志刚,胡斌,丛小朋,吕承龙.基于鳍条效应的柔性夹爪设计与试验研究[J].机床与液压,2023,51(4):86-91.
GUAN Yukun, HOU Zhigang, HU Bin, CONG Xiaopeng, LYU Chenglong. Design and Experimental Research of Flexible Gripper Based on Fin Ray Effect[J]. Machine Tool & Hydraulics,2023,51(4):86-91

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  • 在线发布日期: 2023-03-16
  • 出版日期: 2023-02-28