一个多曲率软抓,基于细分可变刚度结构,灵感来自蛇.
Min Sun1,2,3, Haonan Fu1, Hongshuai Lei2
1Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, PR China.
Soft robotics
|February 20, 2025
概括
这项研究介绍了一种具有多曲率和可变刚度能力的新型软抓手,灵感来自蛇. 这种可适应的抓柄显著扩大了其紧范围,用于在工业环境中处理各种物体形状.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 传统的软抓手会与各种形状和硬度的物体作斗争.
- 现有的设计往往缺乏适应性,限制了它们的稳定性和在工业环境中的实际应用.
研究的目的:
- 设计和开发一个可适应的柔软抓手手指,具有多曲率和可变刚度控制.
- 为了提高抓手的稳定性和可用于更广泛的物体形状的可用性.
主要方法:
- 开发了一种新的手指设计,包括一个形执行器和两个灵感来自蛇的可变刚度单位 (VSU).
- 创建了一个形执行器的有限元模型,以分析参数对曲和力的影响.
- 利用显式动态分析来预测和实验验证真空压力下的VSU刚度变化.
主要成果:
- 形执行器的设计参数通过直角实验来优化曲角度和尖端输出力.
- 可变硬度单位在操作真空压力下显示出可靠的硬度调整.
- 两只手指的抓手成功地产生了各种紧曲线,与物体紧密相吻合.
结论:
- 开发的软抓手表现出有效的形状控制和可变刚度调整.
- 抓器适应物体的能力显著扩大了其紧范围和适用性.
- 这一创新为在工业环境中掌握各种各样的对象提供了更具多功能性的解决方案.
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