Research On The Adaptive Design Of The Grasping Actuator For The Narrow Space Of Refrigerator

The acceleration of the global intelligence process has allowed automated robot products to gradually enter the catering service industry and even the family.Intelligent products such as sweeping robots effectively solve the contradiction between people's pursuit of exquisite life and the nature of ‘coach potato'.The rising demand for smart kitchen products during the epidemic has exposed the deficiencies and potential of smart home scenes.Related research shows that the kitchen,as an important part of the home environment,has great room for optimization.The development of the robotic arm provides new possibilities for the release of hands.Refrigerator is an important link in the kitchen cooking and daily processes.Solving how to grab items from it is the core problem to ensure smooth operation.Faced with a series of problems such as the large size of the existing end effector of the robotic arm that cannot adapt to the small space environment of the refrigerator,the single type of grasped items,and the lack of stability in the lateral grasping of the flexible gripper,this article takes the lateral grasping action of the "human hand" as Analogy reasoning source,using adaptive design research method to build a flexible actuator for the small space of refrigerator.The device not only has a great improvement in the stability of lateral grasping,but also has a higher adaptability to a narrow space with a certain depth and common items in the refrigerator.The main research contents of this paper are as follows:(1)A detailed investigation was carried out on the actual refrigerator space environment and the types of common items,and a reasonable data collection plan was designed based on the current situation of the epidemic situation to obtain a sufficient sample data set.The samples are clustered using Ward system clustering method,and the four classification models of common refrigerator items are summarized in combination with their characteristics.(2)Simultaneously introduce analogy reasoning method and adaptive design method in the product design process,implement the theory in the whole process design from concept to landing plan,so that the research results are more reliable.At the same time,using the continuity concept of adaptive design,the detachable design of the components makes it sufficient to cope with different optimization scenarios.(3)Complete the prototype construction of the flexible actuator and test its application feasibility in actual scenarios.Prototype production includes from pneumatic gripper structure design to silicone mold design,overall structure design,air circuit design,etc.After assembling each functional module,selecting items in the refrigerator common item classification model for grasping experiments,verifying its rationality Sex.The flexible actuator studied in this paper has effectively improved the lateral gripping performance in a small space,and its expanded application in living rooms,bedrooms and other family life scenes has certain potential and value.