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一个可重新配置的外骨生物硬软组合抓手

Ziyin Zhang¹, Yanyan Wu², Lei Zhang¹

¹School of Mechanical and Transportation Engineering, Chongqing University, Chongqing 400000, People's Republic of China.

Bioinspiration & biomimetics

|November 17, 2025

概括

这项研究介绍了一种新的可重新配置的外骨架抓手,灵感来自蜘蛛腿. 这种先进的软抓把器提高了承载能力和适应能力,用于各种物体抓捕任务.

科学领域:

机器人技术机器人技术机器人技术
生物模拟学是一种生物模拟学.
材料科学材料科学材料科学

背景情况:

软体抓手提供安全的物体操纵,但由于材料的灵活性,承载能力有限.
传统的软抓器难以硬,限制了它们的应用范围和有效载荷.

研究的目的:

开发一个可重新配置的外骨生物体刚性-柔性抓柄,具有增强的刚性和承载能力.
通过整合灵感来自蜘蛛液压腿的新设计来克服传统软抓手的局限性.

主要方法:

设计了一种具有三种可切换工作模式和快速连接机制的抓手,以实现适应性.
使用模仿蜘蛛液压腿的气球执行器,用于自适应性关节执行和外骨变形.
开发了基于气球外骨架相互作用的非线性执行的理论模型,并进行了用于气球模拟的有限元分析.
用膜包裹外骨,以提高灵活性和结构支持.

主要成果:

可重新配置的外骨抓柄成功抓住了从3mm到230mm的物体.
达到1公斤的最大承载能力,明显超过传统的软.
通过可切换工作模式,证明了对各种物体大小和质量的适应性.

结论:

拟议的生物体刚性-柔性抓手显著扩大了软抓手的应用范围和承载能力.
可重新配置的外骨设计为机器人学中的多功能和强大的对象操纵提供了有希望的解决方案.

关键词:

气球的起动装置是气球的起动装置.外骨架的抓手可以抓住外骨架.气动驱动的执行方式可以重新配置的抓手.刚硬软的抓手方式理论建模的理论建模.

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