现代制造工程Issue(5)：73-81,9.DOI:10.16731/j.cnki.1671-3133.2025.05.009
基于颗粒体阻塞的可变刚度柔性机械手指研究
Study of variable stiffness flexible mechanical fingers based on granular body obstruction
摘要
Abstract
Flexible grippers,with their ability to conform to various shapes,offer significant advantages over rigid grippers,particu-larly when handling irregularly shaped or delicate objects.However,traditional flexible grippers often struggle with limited load capacity due to material and structural constraints,making them less effective for certain applications.A novel design for a varia-ble stiffness flexible mechanical finger was introduced,based on the principle of granular body obstruction.This design incorpo-rates a granular interference layer,which significantly enhances the stiffness and load capacity of the finger through active particle interaction.Unlike conventional pneumatic flexible grippers,this design allows for precise control of the finger's bending by adjus-ting air pressure,optimizing its fit around irregular objects.Simultaneously,the stiffness of the finger can be fine-tuned by control-ling the vacuum pressure within the granular interference layer.As the vacuum pressure increases,the walls of the compartment compress the particles more tightly,resulting in greater stiffness and enhanced load-bearing capacity.This active particle interfer-ence approach offers a key advantage over passive systems,the ability to adjust the finger's stiffness independently of its bending angle.Moreover,as the bending angle increases,the range of stiffness adjustment also expands.Both theoretical analysis and ex-perimental results demonstrate that this variable stiffness flexible finger,utilizing vacuum-controlled granular obstruction,effectively allows for independent control of bending angle and stiffness,enabling the flexible gripper to perform a wider array of robotic grasping tasks.关键词
柔性手指/可变刚度/真空颗粒体阻塞/纤维增强/解耦控制Key words
flexible gripper/variable stiffness/vacuum particle jamming/fiber reinforcement/decoupled control分类
信息技术与安全科学引用本文复制引用
魏杨珂,岳龙旺,李莎,刘冲..基于颗粒体阻塞的可变刚度柔性机械手指研究[J].现代制造工程,2025,(5):73-81,9.基金项目
国家自然科学基金项目(51541508) （51541508）
河南省自然科学基金项目(182300410286) （182300410286）
