Analysis on Grasping Ability for a Soft Robotic Hand with Structural Decoupling of Actuator and Variable Stiffness Mechanisms

doi:10.3969/j.issn.1004-132X.2023.01.004

Abstract

Abstract: To realize the accurate grasp of soft hand with variable stiffness， a soft robotic finger with the structural decoupling of actuator and variable stiffness mechanisms was designed. The fingertip force models of soft finger were built and the fingertip forces of finger were calculated. The comparison between the experimental results and simulation ones of the fingertip forces validated that the grasping models might accurately predict the grasping behavior within a certain range of deflections. The structure sizes of the soft robotic hands were designed based on the fingertip force models of the soft finger. According to the designed structure of the soft robotic hands， the grasping ability of the finger pulp was further studied， and eventually the grasping force models of the finger pulp grasp of the soft robotic hand were obtained through the mutual verification of simulation and experiment. Simulation and experimental results show that the grasping capability of soft robotic hands was related to the stiffness of fingers， actuating ability from deformation and the grasping types.

Key words: , soft robotic hand, variable stiffness, actuator, structural decoupling, fingertip force

摘要： 为了实现变刚度驱动软体手的精确抓取，设计了一款结构解耦型的变刚度驱动（变刚度与变形驱动）软体手指。建立了软体手指的指尖力模型，并计算了手指指尖力，将实验测试的手指指尖力数据与计算结果进行比较，证明了手指指尖力模型在一定精度范围内能够预测手指的抓握行为。基于软体手指的指尖力模型对软体手的结构尺寸进行设计，并根据设计的软体手进一步研究指腹的抓握能力，通过仿真与实验的相互印证得到了软体手指腹抓取的抓握力模型。仿真和实验结果表明，软体手的抓握能力与手指的刚度、变形驱动能力以及软体手的抓握形态有关。

关键词: 软体手, 变刚度, 驱动, 结构解耦, 指尖力

CLC Number:

TP241

YIN Haibin, TAO Jian, LI Qian, ZHOU Jia, . Analysis on Grasping Ability for a Soft Robotic Hand with Structural Decoupling of Actuator and Variable Stiffness Mechanisms[J]. China Mechanical Engineering, 2023, 34(01): 27-35.

尹海斌, 陶鉴, 李骞, 周佳, . 一种结构解耦型变刚度驱动软体手抓握能力分析[J]. 中国机械工程, 2023, 34(01): 27-35.

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