第53卷第13期 2017年7月
机械工程学报
JOURNALOFMECHANICALENGINEERING
DOI：10.3901/JME.2017.13.029
3No.13
Vol.53
Jul.
基于纤维增强型驱动器的气动软体抓手设计
魏树军1,2王天宇1谷国迎1,2
(1.上海交通大学机械系统与振动国家重点实验室上海200240；
2.上海交通大学机械与动力工程学院上海200240）
2017
摘要：现有机械抓手多为刚性结构，对被抓物品的自适应能力差。为实现柔顺抓取常采用欠驱动的方式，由此带来设计的机械抓手结构复杂、控制难度大的间愿，面且通常只能应用于特定的目标对象。设计-一种结构与控制简单、自适应能力强的软体拆手。该抓手由三个具有纤维增强结构的软体弯曲驱动器作为爪子协调配合实现抓取任务，气体的可压缩性与软体驱动器的弹性使此抓手拥有可对易损物品无损抓取的良好特性。选取合理的性能参数后，采用3D打印出模具浇注硅胶的方式制作出特性优良的驱动器，同样采用3D打印的方式制作抓手的连接基座，同时，整个装置的气密性通过独特设计的结构得以保
好地实现无损抓取。
关键词：自适应抓取；软体抓手；软体驱动器；纤维增强型结构中图分类号：TP241
DesignofaSoftPneumaticRoboticGripperBasedon
Fiber-reinforcedActuator
GUGuoyingl2
WEIShujun',2WANGTianyu'
(1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240;
2.School ofMechanical Engineering,Shanghai JiaoTong University,Shanghai200240)
Abstract: Most of current mechanical grippers are rigid-structured and have poor adaptive ability to target objects. In order to achieve adaptive grasping,the under-actuated mechanisms are usually employed, leading to complicated structure and contrlling difficulty. On the other hand, such under-actuated grippers are generally designed for a specific target object. A soft pneumatic robotic gripper which is easy to be controlled and has strong adaptive ability is designed in this paper. The three-finger soff pneumatic robotic gripper achieves grasping tasks through cooperation of three fiber-reinforced soft bending actuators. It can accomplish the nodamage grasping of fragile items because of the compressibility of gas and the elasticity of soft actuators. After selecting appropriate parameters, soft actuators are manufactured by injecting silicon into 3D-printed molds. With 3D-printed connecting base, air-impermeability of the whole equipment can be guaranteed. The experiments are designed as: Grasping different kinds of object with different size by cooperation between the soft pneumatic gripper and UR robot arm. The results of experiments indicate that this developed gripper can realize the expected nodamage grasping function and has the features such as universal grasping, strong adaptive ability, and easy of control
Key words: adaptive grasping: soft gripper; soft actuator; fiber-reinforced structure
取物之间多为刚性接触，通常是几个点的接触施加
0前言
机械臂末端夹持装置是自动化生产线的重要组成部分，如图1a所示，传统的机械抓手与目标抓 +国家自然科学基金(51622506)和上海市科委基础研究(16JC1401000)资
助项目，20170302收到初额，20170421收到修改损万方数据
压力靠摩擦力来实现抓持功能。这类抓手结构简单，一般用于外形规则物品的简单抓取任务，如图1b 所示。在现代工业生产中，产品种类较以往大大增加，“多品种、小批量”成为市场需求的一大趋势，混流生产也应运而生。在混流生产线上，图1b所示的传统机械抓手已不能满足复杂或不规则物品的折