Design And Analysis Of Large Load Soft Grasping Device Based On Bionic Swallowing Principle

In order to solve the problem of the weak load capacity of the software grasping device,this paper studies the swallowing mechanism of the organism.Based on the principle of bionic swallowing,the innovative design of the structure of the software robot is carried out.A flexible guiding structure and a new grabbing method for grabbing are proposed,and a large load software grabbing device based on the bionic swallowing principle is designed.The bionic mechanism analysis,key structure design,grab model establishment,prototype development and relevant grab experiments are studied.It enriches the research methods of software grabbing device and provides a new design idea for the load lifting of software grabbing robot.First of all,according to the difficulty of soft robot's weak load capacity,this paper analyzes the structure characteristics and motion rules of the biological esophagus from the bionic swallowing principle,carries out the bionic design of the structure of the human esophagus,and innovatively puts forward the flexible guidance structure of the double-layer closed air bag.Two kinds of grasping devices with different driving are designed and optimized for the software structure.Combined with the pneumatic soft grip and rigid driving parts,the rigid flexible coupling structure is adopted.Based on the principle of bionic swallowing,a design scheme of large load soft grasping device is proposed,and the relevant structure is designed by three-dimensional software.Then,based on the equal arc theory,this paper studies the grasping mechanical characteristics of the soft flexible guiding body,analyzes the force characteristics of different grasping positions in the grasping process,and determines the grasping conditions.According to its special structure,the driving force and driving mode are analyzed.As well as the qualitative analysis of impact resistance after grasping.Finally,according to the configuration of the software holding device,starting from the engineering structure,the manufacturing process of the soft manipulator is studied,and the manufacturing of soft silica gel is explored through practice,and the prototype is developed.Carry out the experiment of related software manipulator.The grasping experiments of multi-objective and multi-scale are carried out to verify the driving force characteristics of the compliant mechanism,and the experiments are carried out by changing the internal medium of the compliant mechanism.And the impact resistance characteristics were tested.The large load gripping performance of the gripping device is verified,and the theoretical analysis of the driving force is verified.