气撑式软体末端执行器的设计与分析

针对目前多指型软体末端执行器难以平稳夹持不同口径容器的问题,开展了一种能够从内部支撑夹持的气撑式软体末端执行器的设计与分析,提出一种新的夹持方式。首先设计气撑式软体末端执行器的结构,由软体驱动器和连接装置构成;其次基于Yeoh模型、虚功原理和软体驱动器结构建立驱动气压与软体驱动器膨胀变形的非线性数学模型;然后开展软体末端执行器膨胀变形的Abaqus软件仿真及实验,将理论模型和仿真、实验结果进行对比,结果验证理论模型的正确性;最后进行气撑式软体末端执行器的夹持实验,结果表明,所提出的气撑式末端执行器能够很好地抓取不同口径的容器。

Design and Analysis of Air-supported Soft End-effector

At present, multi-finger soft end-effector is difficult to hold different caliber vessels smoothly. Based on this situation, a new clamping method is proposed. Firstly, design the structure of the gas-braced soft end actuator, which consists of a soft actuator and a connecting device. Secondly, based on the yeoh model, virtual work principle and software driver structure to establish the nonlinear mathematical model of driving pressure and software driver expansion deformation. And then the abaqus software simulation and experiment of software end actuator expansion deformation are carried out, and the theoretical model and simulation and experimental results are compared. The results verify the correctness of the theoretical model. Finally, the clamping experiment of the gas brace soft end actuator is carried out. The experimental results show that the proposed gas brace end actuator can grasp the containers of different caliber well.