Deformation Modeling and Simulation of a Novel Bionic Software Robotics Gripping Terminal Driven by Negative Pressure...

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Pneumatic soft grippers offer compliant manipulation capabilities.
• Modeling and experimental validation are crucial for optimizing soft gripper performance.

Purpose of the Study:

• To develop and validate a mathematical model for the bending deformation of a pneumatic soft gripper.
• To investigate the material properties of silicone rubber for soft gripper applications.
• To select an optimal gripper design for various clamping tasks.

Main Methods:

• Established a mathematical model using Yeoh constitutive model and differential geometry.
• Determined material constants via uniaxial tensile tests.
• Simulated gripper performance using ABAQUS software.
• Conducted bending deformation experiments.

Main Results:

• The mathematical model achieved a relative error of no more than 3.5% compared to simulation data.
• Experimental maximum deformation angle reached 72.4°.
• The selected gripper design demonstrated adaptability for objects ranging from 0.1 mm to 1 kg.

Conclusions:

• The developed mathematical model accurately predicts soft gripper bending deformation.
• The proposed pneumatic soft gripper exhibits excellent adaptability and clamping capabilities.
• The study validates the integration of theoretical modeling, simulation, and experimentation for soft robotic systems.