一种基于弹簧增强软气动执行器的增强夹持适应性的新型软夹持器

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL Industrial Robot-The International Journal of Robotics Research and Application Pub Date : 2022-07-14 DOI:10.1108/ir-04-2022-0103
Peilin Cheng, Yuze Ye, B. Yan, Yebo Lu, Chuanyu Wu
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引用次数: 0

摘要

软爪比刚性爪具有更安全、适应性更强的人机交互和环境-机器交互。然而,大多数单一抓握姿势的软抓握器的抓握范围有限。因此,本文旨在设计一种可变夹持姿态的软夹持器,以提高夹持适应性。设计/方法/方法本文提出了一种由转换机构和四个弹簧增强软气动执行器(sspa)作为软手指组成的新型软夹持器。通过调整转换机构,可以实现四种抓取姿势,以抓取不同形状、大小和重量的物体。此外,还建立了一个准静态模型来预测手指的弯曲变形。最后,测量了手指弯曲角度,验证了准静态模型的准确性。通过对夹持力和夹持适应性的测试,探索夹持器的夹持性能。通过实验,结果表明,准静态模型可以准确预测手指的变形;夹持器在平行姿态下夹持力最大,四种夹持姿势转换后,夹持器的夹持适应性大大增强。独创性/价值通过增加夹持姿态,提出一种具有增强夹持适应性的新型软夹持器,以扩大单姿态软夹持器的夹持范围。此外,还建立了准静态模型来分析SSPA的变形。
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A novel soft gripper with enhanced gripping adaptability based on spring-reinforced soft pneumatic actuators
Purpose Soft grippers have safer and more adaptable human–machine and environment–machine interactions than rigid grippers. However, most soft grippers with single gripping postures have a limited gripping range. Therefore, this paper aims to design a soft gripper with variable gripping posture to enhance the gripping adaptability. Design/methodology/approach This paper proposes a novel soft gripper consisting of a conversion mechanism and four spring-reinforced soft pneumatic actuators (SSPAs) as soft fingers. By adjusting the conversion mechanism, four gripping postures can be achieved to grip objects of different shapes, sizes and weights. Furthermore, a quasi-static model is established to predict the bending deformation of the finger. Finally, the bending angle of the finger is measured to validate the accuracy of the quasi-static model. The gripping force and gripping adaptability are tested to explore the gripping performance of the gripper. Findings Through experiments, the results have shown that the quasi-static model can accurately predict the deformation of the finger; the gripper has the most significant gripping force under the parallel posture, and the gripping adaptability of the gripper is highly enhanced by converting the four gripping postures. Originality/value By increasing the gripping posture, a novel soft gripper with enhanced gripping adaptability is proposed to enlarge the gripping range of the soft gripper with a single posture. Furthermore, a quasi-static model is established to analyze the deformation of SSPA.
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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