Research On The Design And Application Of A Series Of Flexible Gripper For Cooperative Robot

With the rise of intelligent manufacturing,cooperative robots have developed rapidly,which not only drives the progress of society,but also brings the problem of man-machine cooperation.In terms of end effector,the rigid gripper commonly used by traditional robots is difficult to adapt to the scene of man-machine cooperation due to the shortcomings of single object grasping,excessive clamping force and easy damage to objects.Therefore,the flexible gripper with diversified objects,high degree of freedom and not easy to damage objects has been more and more widely used in the field of cooperative robots.In this paper,using flexible materials,based on the fin effect and the principle of pneumatic mesh,two kinds of flexible grippers are designed and manufactured,the structural finite element analysis is carried out,and the driving system is built.The process of waste classification is simulated on Sawyer robot,and the grasping experiments of various items are carried out.This paper firstly analyzes the theoretical structure of the flexible single fingers of the two grippers,analyzes and studies the single finger structure by selecting an appropriate mathematical model,and analyzes and improves the deficiencies and shortcomings of the single finger when the single finger is deformed by force through the finite element method.Secondly,the production process of two different types of single fingers is introduced as a whole.The fin-ray effect flexible single finger is made by 3D printing of flexible materials,and the pneumatic mesh flexible single finger is made by silicone injection molding method.After forming,perform performance tests on three sizes of flexible single fingers,conduct end contact force test and surface feature test for fin ray effect flexible single fingers,and conduct end contact force test,bending angle test,and response time for pneumatic mesh flexible single fingers.test.According to the test results,a more suitable single finger is selected as the grasping part of the end effector.The drive system of the flexible gripper is built,and the drive system is divided into two parts: the construction of the pneumatic circuit and the serial communication.According to the driving principle of the two flexible grippers,two sets of different pneumatic circuits are built respectively,and the serial communication of the gripper under Windows and ROS is completed based on the stm32 single chip microcomputer.Finally,the integrated flexible grippers are introduced,including two types of fin-ray effect flexible grippers,which can grab objects from radial and circumferential directions respectively;the multi-finger pneumatic mesh is derived by modularizing the flexible single finger of the pneumatic mesh.Grid flexible jaws.Two types of flexible grippers were installed on the Sawyer robot to test the grasping and safety issues of human-robot collaboration.The reliability and efficiency of the flexible gripper are verified by simulating a garbage sorting scenario.