棉纺织技术2025，Vol.53Issue(8)：49-55,7.
异形软体机器人用编织网套的制备及力学性能研究
Research on preparation and mechanical property of braided mesh sleeve for irregular soft robot
邱筱雯 1葛兰1
作者信息
- 1. 东华大学,上海,201620||纺织面料技术教育部重点实验室,上海,201620
- 折叠
摘要
Abstract
In order to solve the problem of insufficient torsional resistance faced by soft robots when grasping irregularly shaped objects,the integrated braiding and molding technology was used to design and prepare a braided mesh sleeve for a silicone soft robot that could adapt to a gradually changing diameter.A braiding method was proposed,which was the spindle speed varied with the shape of the mandrel,and the torsional resistance of the braided mesh sleeve was tested.The influence of the braiding structure,braiding mesh count,and stainless-steel wire diameter on the torsional resistance of the variable-diameter braided mesh sleeve were analyzed.An orthogonal experiment was carried out on nine samples,and their torsional resistance was tested.The results showed that the braided mesh sleeve significantly improved the torsional resistance of the robot while ensuring its flexibility.The torsional resistance of the robot wearing the braided mesh sleeve could be hundreds of times higher than that of the robot without the mesh sleeve.The influence order of braided structure,braided mesh count and stainless steel wire diameter on the torsional resistance of braided mesh was stainless steel wire diameter>braided mesh count>braided structure.It is believed that the research results can provide a basis for the design and preparation of metal braided mesh sleeves for soft robots,expand the application scenarios of soft robots,and provide more possibilities for the large-scale production of irregular braided mesh sleeve.关键词
二维编织/不锈钢金属线/抗扭性能/一体化编织/异形编织网套/软体机器人Key words
2D braiding/stainless steel wire/torsional resistance performance/integrated braiding/irregular braided mesh sleeve/soft robot分类
轻工纺织引用本文复制引用
邱筱雯,葛兰..异形软体机器人用编织网套的制备及力学性能研究[J].棉纺织技术,2025,53(8):49-55,7.
