Research On Design And Grasping Characteristics Of Bird-like Beak Miniature Pneumatic Soft Manipulator Claw

The manipulator claw is an important part that is widely used in the field of industrial production and manufacturing.Rigid gripper claws only solve a small part of the industrial production and handling work,and most of the remaining irregular and vulnerable objects are still in the manual loading and unloading stage.Therefore,the traditional rigid gripper claws cannot meet the requirements of industrial production,while the soft claws solved the above problems.However,the existing research on soft gripper claws still stays in the category of centimeters as the scale,and lacks adaptability and stability for the grasping of millimeter-scale objects.In this thesis,aiming at the millimeter-scale grasping object,through the research of bird beak feeding,a kind of imitating bird beak micro pneumatic soft gripper claw is proposed.Through structural optimization,the mechanical model is established and the stability analysis is carried out;The injection molding analysis completed the production of the claw;finally,the experiment verified that the claw has good bending characteristics,stability,adaptability and high precision characteristics.The main contents of this thesis are as follows:First,by studying the hollow structure of the bird’s beak,two types of soft gripper claws are designed,namely the inner hole and outer support type and the hollow finger claw,and through calculation and comparison,it is obtained that the gripping performance of the hollow finger claw is better;then through the finite element analysis of the hollow finger claw,its structure is optimized.Secondly,the mechanical modeling and grasping stability analysis of the optimized soft gripper are carried out.The static balance equation is formed by establishing the element elastic force array and the element pressure array,and the Newton Raphson iteration method and numerical integration method are used to solve it,and the relationship between the air pressure and the bending deformation of the soft gripper claw is obtained;then,the gripping of the claw is established In the model,different contact points are selected for different grasping objects for analysis,and the influence of the shape and size of the grasping object on the contact force is obtained.Then,the design of the bird’s beak soft gripper claw mold is preliminarily carried out,and the software lithographic printing technology is selected according to the best,and the paw is prepared with a one-step molding mold;secondly,to meet the needs of the industrialization of the paw,the Moldflow software is used to perform injection analysis on the paw.The injection molding process parameters are optimized and a double-cavity mold is prepared;finally,the optimized mold is used to make the claw,and the soft gripper claw is assembled to complete the pneumatic system.Finally,by building an experimental platform for the soft gripper gripper,the comparison experiment of silicone rubber material,the bending characteristic experiment,the stability experiment,the adaptability experiment and the gripping accuracy test experiment were carried out to verify the gripping performance of the gripper.