Qian Cong, Xiaojie Shi, Yu Xiong, Ju Wang, Zhen Yang, W. Tian
{"title":"一种新型的基于盾前部跗骨的仿生抓具","authors":"Qian Cong, Xiaojie Shi, Yu Xiong, Ju Wang, Zhen Yang, W. Tian","doi":"10.1139/tcsme-2021-0152","DOIUrl":null,"url":null,"abstract":"A novel bionic gripper with bristles is designed based on the biological structure of the front tarsi of scutigers, and its simulation model is established. It was verified that the proposed bionic gripper not only achieved the expected gripping action but also completed the pinching motion with better grasping performance. Related parameters, such as displacement, velocity, acceleration, force, and torque, were also analyzed. Friction contact finite element analysis of the bionic gripper with bristle structure was performed using ABAQUS and compared with the control group. The finite element analysis results showed that the bristles could effectively improve the capture efficiency of the bionic gripper. The diameter and density of the bristles in the bionic gripper were optimized, and their influence on the gripping efficiency was analyzed. This study provides a reference for the structural design of bionic grippers and the practical application of bionic non-smooth surfaces.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.8000,"publicationDate":"2022-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A novel bionic gripper based on the front tarsi of scutigers\",\"authors\":\"Qian Cong, Xiaojie Shi, Yu Xiong, Ju Wang, Zhen Yang, W. Tian\",\"doi\":\"10.1139/tcsme-2021-0152\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel bionic gripper with bristles is designed based on the biological structure of the front tarsi of scutigers, and its simulation model is established. It was verified that the proposed bionic gripper not only achieved the expected gripping action but also completed the pinching motion with better grasping performance. Related parameters, such as displacement, velocity, acceleration, force, and torque, were also analyzed. Friction contact finite element analysis of the bionic gripper with bristle structure was performed using ABAQUS and compared with the control group. The finite element analysis results showed that the bristles could effectively improve the capture efficiency of the bionic gripper. The diameter and density of the bristles in the bionic gripper were optimized, and their influence on the gripping efficiency was analyzed. This study provides a reference for the structural design of bionic grippers and the practical application of bionic non-smooth surfaces.\",\"PeriodicalId\":23285,\"journal\":{\"name\":\"Transactions of The Canadian Society for Mechanical Engineering\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.8000,\"publicationDate\":\"2022-04-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transactions of The Canadian Society for Mechanical Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1139/tcsme-2021-0152\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of The Canadian Society for Mechanical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1139/tcsme-2021-0152","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
A novel bionic gripper based on the front tarsi of scutigers
A novel bionic gripper with bristles is designed based on the biological structure of the front tarsi of scutigers, and its simulation model is established. It was verified that the proposed bionic gripper not only achieved the expected gripping action but also completed the pinching motion with better grasping performance. Related parameters, such as displacement, velocity, acceleration, force, and torque, were also analyzed. Friction contact finite element analysis of the bionic gripper with bristle structure was performed using ABAQUS and compared with the control group. The finite element analysis results showed that the bristles could effectively improve the capture efficiency of the bionic gripper. The diameter and density of the bristles in the bionic gripper were optimized, and their influence on the gripping efficiency was analyzed. This study provides a reference for the structural design of bionic grippers and the practical application of bionic non-smooth surfaces.
期刊介绍：
Published since 1972, Transactions of the Canadian Society for Mechanical Engineering is a quarterly journal that publishes comprehensive research articles and notes in the broad field of mechanical engineering. New advances in energy systems, biomechanics, engineering analysis and design, environmental engineering, materials technology, advanced manufacturing, mechatronics, MEMS, nanotechnology, thermo-fluids engineering, and transportation systems are featured.
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