Research On Air - Driven Software Gripping Device

Traditional robotic hands usually have a rigid contact with the grasp targets and it’s difficult for these hands to achieve the goal of gripping fragile items. Besides, these hands are usually designed for specific tasks and can be only used to grab certain objects, which means they have a poor versatility. In modern industrial production, people have to produce a variety of products in a single product line and gripper at one station is often faced up with different grasp targets. In this context, inventing a new gripper which is flexible and adaptable for different objects has become a new task for researchers.For the deficiencies of old flexible grippers, this paper proposes a new soft robotic hand which can be used to grab fragile items and has a good versatility. Different from traditional robotic hands, this hand has a contact area instead of just a few contact points when it works, thus produces less pressure on the surface of grasp targets and avoids damaging them. Meanwhile, when driving medium comes in, the hand will generate specific deformation and creat e a certain envelope space,gripping by enveloping.This paper mainly presents:a robotic hand structure scheme—combination of rigid and soft body was proposed on the basis of bionics and soft robots research of the world, a three-finger soft robotic hand was designed and made; a drive model of the flexible gripper was established, including the model of finger swing and optimization of it, the finger bend mathematical model; the motion characteristics of airbag frustum was researched, including testing on the airbag frustum expansion deformation characteristics and the pressure response characteristics; the motion characteristics of 20-0、20-5 fingers was tested, including fingers bending deformation characteristics and the pressure response characteristics; the overall grasp performance of the gripper was tested, including testing on the motion characteristics and gripping ability; problems found in the process of producing and testing the gripper was summarized and solved accordingly.