包装与食品机械2025，Vol.43Issue(1)：8-16,9.DOI:10.3969/j.issn.1005-1295.2025.01.002
自适应掌位气动软体机械手设计与试验研究
Design and experimental study of the adaptive palm pneumatic soft manipulator
摘要
Abstract
To solve the problems of insufficient automation,low efficiency and safety of food sorting due to the large difference in the shape and characteristics of food materials and frequent material replacement in food production line,an adaptive pneumatic soft manipulator for food material sorting and handling is proposed.Based on the assumption of piecewise constant curvature and the principle of virtual work,a mathematical model of soft finger bending deformation is established to explore the relationship between driving pressure and bending radian.Through the fluid-solid coupling analysis of the soft finger,the deformation under pressure is explored.The D-H method is used to model the kinematics of the soft finger,and the Monte Carlo method is used to analyze its workspace.The 3D printing technology combined with the plate printing method was used to complete the physical production,and the grasping strategy was developed to carry out the grasping verification test.The results show that the variable stroke of the unilateral mechanism of the soft manipulator is 27 mm;under the pressure of 0.04 MPa,the maximum deformation of the soft finger is 104.15 mm,the maximum equivalent stress is 0.535 MPa,and the bending radian is 0.791 rad.The maximum grasping range of the overall workspace of the soft finger is 245 mm,and the maximum grasping quality is 571.78 g.The research provides a theoretical basis for the application of soft manipulator in food material sorting.关键词
软体机械手/结构设计/流固耦合/工作空间/抓取研究Key words
soft manipulator/structural design/fluid-solid coupling/workspace/gripping strategy分类
轻工业引用本文复制引用
李振龙,郭亚琳,宋海云,张梦瑶,吕黄珍,何亚凯,赵丹,杜志龙..自适应掌位气动软体机械手设计与试验研究[J].包装与食品机械,2025,43(1):8-16,9.基金项目
国家重点研发计划项目(2022YFD2100305) （2022YFD2100305）
