基于折纸的被动触发双稳态机器人手设计OA北大核心CSTPCD

Conventional robotic hands usually require drives to continuously provide torque or force to maintain grasping state.If the drive fails,the robotic hand cannot grasp the object stably.To solve these problems,a passively-triggered bistable robotic hand based on origami is proposed.The robotic hand was composed of a grasping mechanism with single-degree-of-freedom and a driving mechanism with bistable characteristics.Based on the kinematics models of the grasping mechanism and driving mechanism,the structure of robotic hand was designed according to the requirements of grasping state,and the energy barrier could be adjusted flexibly by setting the stiffness parameters of the torsion spring.Finally,the drop capture experiments were carried out to verify the grasping performance of the designed robotic hand.The results showed that when the drop height was 400 mm,the grasping motion of the robotic hand was not triggered;When the drop height was 440 mm,the robotic hand successfully grasped the object;When the drop height was 480 mm,the robotic hand failed to grasp the object although the grasping motion was triggered.The experimental results not only validate the ability of robotic hand to grasp objects of a certain size stably without driving,but also reveal the existence of energy barriers under different external shocks.The passive-triggered bistable robotic hand based on origami has potential applications in passive and adaptive robots.