分析接触力和形状变化在抓住一个正方形物体使用一个实际的射软抓手的分析
Takahide Kitamura1, Kojiro Matsushita1, Naoki Nakatani1
1Department of Mechanical Engineering, Gifu University, Gifu 501-1193, Japan.
Sensors (Basel, Switzerland)
|December 23, 2023
概括
这项研究调查了细光型软抓手 (FRSG) 和其抓取能力. 研究人员发现,调整横梁角度优化了对各种物体形状的把握力和稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 材料科学 是一种材料科学.
背景情况:
- 软抓手,特别是芬雷型软抓手 (FRSG),利用被动变形来稳定抓取.
- 了解力-几何关系至关重要,因为FRSG的性能取决于横光束的排列.
- 使用FRSG捕捉角形物体的特征在现实应用中仍未得到充分探索.
研究的目的:
- 分析实际FRSG中的力和结构变形对应.
- 为了研究横梁布局对抓取力的影响.
- 用角度对象 (0°和45°) 来评估FRSG的性能.
主要方法:
- 使用了带有16个集成力传感器的接触力测量装置.
- 采用相机成像用于结构变形测量.
- 在一个真正的FRSG身上进行了实验,抓住方形 (0°) 和矩形 (45°) 的物体.
主要成果:
- 在FRSG中建立了力和结构变形之间的相关性.
- 证明横梁排列显著影响抓住力.
- 确定了最佳交叉光束角度,以稳定地抓住角形物体.
结论:
- 该研究提供了关于FRSG的力-变形关系的见解.
- 特定的横梁安排提高了抓取效率和稳定性.
- 在45°的正方形物体上,通过各种横梁角度可以实现理想的抓地力.
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