抓取-吸附一体式多指节段气动柔性手爪设计

doi:10.16731/j.cnki.1671-3133.2025.10.006

现代制造工程 ›› 2025, Vol. 541 ›› Issue (10): 57-66.doi: 10.16731/j.cnki.1671-3133.2025.10.006

抓取-吸附一体式多指节段气动柔性手爪设计

葛帅奇^1,2, 季晨^1,2, 郭灿志^1,2, 程广贵^1,2

1 江苏大学,镇江 212013;
2 江苏大学智能柔性机械电子研究院,镇江 212013

收稿日期:2025-02-03 发布日期:2025-10-29
通讯作者: 程广贵,教授,博士生导师,主要研究方向为软体机器人。E-mail:15358851316@163.com;ggcheng@ujs.edu.cn
作者简介:葛帅奇,硕士研究生,主要研究方向为软体机器人。
基金资助:
国家自然科学基金资助项目(52275191);江苏省333人才资助项目

Design of an integrated grasping and adsorption pneumatic flexible gripper

GE Shuaiqi^1,2, JI Chen^1,2, GUO Canzhi^1,2, CHENG Guanggui^1,2

1 Jiangsu University, Zhenjiang 212013, China;
2 Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China

Received:2025-02-03 Published:2025-10-29

摘要/Abstract

摘要： 传统柔性手爪难以满足多物体抓取需求,为此设计了一款抓取与吸附功能为一体的多指节段气动柔性手爪,该柔性手爪由3根柔性手指组成,每根柔性手指包括2个气动腔室节段、刚性连接件、内嵌弹簧型伸缩驱动器(Spring-Embedded Pneumatic Telescopic Actuator,SEPTA)和鲍鱼仿生负压吸盘,吸盘提供额外的吸附力。首先分别建立了柔性手指气动腔室节段与SEPTA的运动学模型;其次采用ABAQUS仿真软件对柔性手爪的运动特性进行分析研究;最后搭建了实验平台,验证了鲍鱼仿生负压吸盘的吸附性能和柔性手爪的抓取能力。结果表明,与传统的多指节段柔性手爪相比,所提出的柔性手爪具有更大的负载能力(最大抓取力可达16.5N),具备可调的输出力,以及多种抓取模式。可为高负载要求的柔性机器人末端执行器设计提供借鉴。

关键词: 气动柔性手爪, 多指节段柔性手指, 多抓取模式, 数学建模

Abstract: Traditional flexible robotic grippers often struggle to meet the demands of multi-object grasping. A multi-segment pneumatic flexible gripper integrating both grasping and suction functionalities is designed. The gripper consists of three flexible fingers,each comprising two chambered segments,rigid connectors,an embedded Spring-Embedded Pneumatic Telescopic Actuator (SEPTA), and biomimetic abalone-inspired negative pressure suction cups,which provide additional suction force. A kinematic model of the flexible finger chambered segments and SEPTA is established,and the motion characteristics are analyzed using Abaqus simulation software. An experimental platform is then constructed to verify the suction performance of the biomimetic suction cups and the grasping capability of the flexible gripper. The results indicate that,compared to traditional multi-segment flexible grippers,the proposed gripper exhibits significantly higher load capacity (with a maximum grasping force of 16.5 N),adjustable output force,and multiple grasping modes. It provides valuable insights for the design of high-load-capacity flexible robotic end effectors.

Key words: pneumatic flexible gripper, multi-segment flexible fingers, multi-grasping modes, mathematical modeling

中图分类号:

TP241

葛帅奇, 季晨, 郭灿志, 程广贵. 抓取-吸附一体式多指节段气动柔性手爪设计[J]. 现代制造工程, 2025, 541(10): 57-66.

GE Shuaiqi, JI Chen, GUO Canzhi, CHENG Guanggui. Design of an integrated grasping and adsorption pneumatic flexible gripper[J]. Modern Manufacturing Engineering, 2025, 541(10): 57-66.

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抓取-吸附一体式多指节段气动柔性手爪设计

Design of an integrated grasping and adsorption pneumatic flexible gripper

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