高技术通讯2025，Vol.35Issue(1)：93-101,9.DOI:10.3772/j.issn.1002-0470.2025.01.010
变刚度软体抓手的建模分析与抓取实验
Modeling and grasping experiment for soft gripper with variable stiffness
摘要
Abstract
Soft gripper is a better choice when handling fragile or delicate objects than rigid gripper due to its suppleness.However,high-speed motion can cause a vibration of soft grippers,resulting in object damage or grasping failure.Thus,soft grippers with variable stiffness have become a hot research topic in recent years.In this paper,a soft gripper with variable stiffness based on layer jamming is designed,and its bending model under pneumatic pressure is established.Finite element simulation analysis is performed using Abaqus.Moreover,a control platform of varia-ble stiffness soft body gripper is designed and constructed.Based on this platform experiments are carried out to verify the relationship between the bending angle of the soft finger and the inflation air pressure.In addition,the experimental results agree well with the theoretical analysis results,which validates the correctness of the mathemat-ical model.In the high-speed grasping experiment with acceleration up to 8 m·s-2,the soft gripper can still grasp the object stably,which shows that the robustness of grasping can be guaranteed with the help of the interference layer unit.关键词
变刚度/软体机器人/旋转干扰层单元/高速抓取实验/有限元仿真Key words
variable stiffness/soft robotics/rotational jamming layer unit/high-speed grasping experiment/finite element simulation引用本文复制引用
戴军跃,冯宇,朱明珠..变刚度软体抓手的建模分析与抓取实验[J].高技术通讯,2025,35(1):93-101,9.基金项目
国家自然科学基金青年科学基金(52005440)资助项目. （52005440）
