Modeling Method And Experiment Research Of Dexterous Soft Self-sensing End Effector Based On Flexible Force Technology

In this paper,taking embedded multi-dimensional fully flexible force/displacement perception and dexterous grasp for research object,the multi-dimensional force sensing characteristics of the perceptual mechanism and the multi-degree of freedom bending characteristics of the motion mechanism of the soft end effector are studied in theory,simulation and experiment.The research on configuration design,theoretical modeling,simulation,manufacturing process,prototype development and experimental research are systematically carried out.Providing new method for the research of fully flexible multi-dimensional force/displacement perception,and laying a theoretical foundation for the development and application of self-sensing dexterous end effector.Firstly,based on the design concept of sensor with liquid sensitive.Design the configuration for full flexible multi-dimensional force perception mechanism on soft robot.Based on the theoretical modeling and experimental research,the configuration factors affecting the sensitivity of the sensor are discussed.Optimizing the hysteresis of the sensor.Summing up the perceptual characteristics of the mechanism.Constructing the mapping relation of force position,and completing the comparison between theory and experiment.Secondly,research on the theoretical method of double channel self-sensing mechanism for dexterity grasping.Based on the theory of space force,the near linear hypothesis of Hyperelastic Materials and the assumption of constant curvature,general-purpose bending mapping relation of the end effector of rectangular sectionis derived.In addition,the statics,kinematics model of a dexterous end effector with double cavity through pressure are established.The mapping relationship between the bending and the input pressure is established,and the working space of the four finger system is solved.Based on the hyperelastic theory model,combined with the experimental results,the Mooney and Yeoh models of the material are obtained,and the motion performance of the end effector is studied by combining finite element method and experimental method.Thirdly,the self-sensing end effector manufacturing process system is built.Starting from the mold design,we study the allocation method of the soft material,the forming of the complex gas cavity,the integration of multi-channel sensing elements,and the whole package.Through the measurement of the micro-channel by electronic microscope and experiments,the superiority of flexible spinning forming process for micro sensor manufacturing is verified.Finally,the development of the prototype is completed.Finally,control hardware system for soft robot is built,using "PC + MCU" structure,can realize the 8 channel independent pressure adjustment,the analog voltage can acquire 16 channel,build a PC control system based on MFC,realize the pressure control,position control,communication,data acquisition the experimental module and selection function.Three kinds of experiments based on self-sensing end effector have been completed.Two PID algorithms have been worked out for the direction of the end of the software,and the pressure measurement is applied to the end effector.The grasping force measurement algorithm has been worked out,and has been tested under two bending angles.