Design And Performance Analysis Of An Rigid-soften Composite Soft Robotic Gripper

In recent years,with the development of all fields of society,production and life has also undergone great changes.In the process of commodity production,the level of automation continues to improve,and the demands of flexible production become stronger.In some scenes,the physical isolation between the robot and the operator is broken,and the robot becomes the operator's collaborator.Robot also enter public places,such as restaurants and offices,as well as homes,and become human companions.All of these require high adaptability and safety for the end-effector of the robot.At present,the soft-fingered gripper using pneumatic grid configuration(pneu-nets)is one of the mechanical claws that performs well in both aspects.The soft finger gripper is made of silicone and has the features of actively adapting to a variety of object shapes and intrinsic safety.However,due to the features of silicone,the lateral deformation of the grasping object in the horizontal direction becomes large,which reduces the payload and limits the use of the grasping object in the horizontal direction.In order to solve this problem,this paper presents an rigid-soften composite soft finger gripper and analyzes its performance.Firstly,the principle of the proposed rigid-soften composite soft finger scheme is introduced,and the corresponding structure design and fabrication process are introduced in detail.In order to analyze the properties of the rigid-soften composite soft finger in various aspects,the integrated design is made into rigid-soften composite single finger module,rigid-soften composite two-finger gripper and variable structure rigid-soften composite three-finger gripper,and the corresponding structural design is introduced.Secondly,the transverse properties of rigid-soften composite soft finger are studied.In kinematics,the relationship between air pressure and the position of finger surface is studied by means of mathematical model,simulation analysis and experimental test.In mechanics,the relationship between pressure,finger surface distance and fingertip force is studied experimentally.This section lays a foundation for the application and control of rigid-soften composite soft finger.Thirdly,the lateral performance of rigid-soften composite soft fingers was studied.Two kinds of two-finger gripper were used to compare the horizontal grasping of the glass cups,including the comparison of the lateral force analysis,the experimental comparison of the lateral load,and the experimental comparison of the lateral shape variables.It is shown that the rigid-soften composite soft finger scheme proposed in this paper reduces the lateral shape variable and increases the load to 2-3 times of the original one compared with the pure soft finger scheme.Finally,the adaptability of rigid-soften composite soft finger to grasping objects is studied.A complete control system is built with variable structure three-finger gripper,and its hardware composition and control logic are introduced.In order to extend its application to mobile robot,a small pneumatic control scheme is proposed.By selecting the grasping objects and carrying out grasping experiments under three grasping modes,the paper illustrates the improvement of the flexibility of the rigid-soften composite soft finger proposed in this paper.