一个带有可切换模式的碎形抓手,用于几何适应性操纵
Jiaxin Huang1, Jian Shen1, Yilin Zheng1
1Jiangsu Provincial Key Laboratory of Food Advanced Manufacturing Equipment Technology, School of Mechanical Engineering, Jiangnan University, Wuxi, 214122, China.
Scientific reports
|April 26, 2025
概括
一种新型的碎形抓器提高了对重或不规则物体的低度操纵器的抓握稳定性. 这种创新的设计确保了在各种应用中强大,高效和柔软的抓取.
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
- 应用数学 应用数学 应用数学
背景情况:
- 多关节低调操纵器在抓取稳定性方面面临挑战,特别是在重型或不规则形状的物体上.
- 现有的抓器往往缺乏应用于复杂的抓任务所需的适应性和强度.
研究的目的:
- 推出一种新型的碎形抓手,旨在增强低度操纵器的抓取能力和稳定性.
- 为了研究碎形抓手的自我恢复,力量再分配和多尺度适应性特征.
主要方法:
- 开发了一个具有碎形形态的抓手,集成碎形几何和杆原理.
- 实施一种弹性设计,以实现自我恢复和持续的强有力的抓取.
- 用弹性聚合物包裹碎形手指,以确保安全抓取和进行指尖压力实验.
主要成果:
- 碎形抓手表现出优越的抓取能力,复杂物体的稳定包裹,甚至力分布.
- 实验证实了多个尺度的适应性,并增强了对各种形状和大小的物体的掌握稳定性.
- 抓手表现出自我恢复功能,提高了抓取效率和强度.
结论:
- 碎形抓器为操纵器提供了一个变革性的设计范式,将数学和机械原理集成在一起,以获得卓越的性能.
- 这项技术解决了在各种实际场景中处理不规则和重物体的关键要求.
- 该设计通过可切换模式促进应用性,并确保安全,安全和高效的抓取.
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