Research On Multi-Chamber Pneumatic Bionic Soft Automatic Gripper

With the continuous development of industry,agriculture,health and hygiene needs,the grasping of objects by automated equipment has become more and more diverse,and the research on robotic grippers has become more and more important.The soft gripper is the end-actuator mechanism of the robot,which can realize the flexible grasping of fragile and soft objects.However,the common soft grippers cannot have the characteristics of high load,fast response and light weight.At the same time,the traditional grasping method cannot automatically adjust when grasping objects of different sizes and different shapes,the use of manual multiple adjustments makes the operation process cumbersome and wastes time and manpower.Combining the above problems,this article mainly analyzes the four aspects of the soft gripper,and designs a soft gripper.Firstly,Multi-chamber pneumatic soft finger structure design and finite element design analysis.Using ABAQUS finite element software to simulate and analyze the soft finger,study the relevant characteristics of the soft finger,obtain the stress cloud diagram of the finger,and analyze the influencing factors of the soft finger bending deformation,end displacement and end force.Through the simulation analysis of the bending deformation factors of the soft finger,the relevant parameters of the soft finger are determined,which provides a theoretical basis for the preparation of the soft gripper below.Secondly,Multi-chamber pneumatic soft finger making.Using 3D printing technology,print out the mold required to prepare the soft finger body.Preparing the soft finger body accord to the planned pouring and curing process.The body of the soft finger is made of silica gel solution,so there is no rigid structure inside,and it only relies on air pressure to complete the action.By changing the size of the air pressure,the deformable layer produces different degrees of deformation,which it turn drives the confinement layer to bend.The main feature of this chapter is to improve the common pouring and curing process and increase the air tightness of the soft finger.Thirdly,Design of automatic fixture for pneumatic soft gripper.A fixture that can automatically adjust the distance between the soft grippers is proposed and produced.Each part of the fixture is designed by Solid Works modeling,formed by 3D printing.Afterwards,the fixture and the soft gripper are assembled.Finally,a fixture control experiment platform was built to analyze the movement of the fixture.Finally,Control and experimental analysis of pneumatic soft gripper.Propose a soft gripper control system plan,select various hardware models required,and build a control experiment platform.On this basis,an experimental plan for soft grippers is proposed,and flexible gripping and heavy-load gripping are realized through the cooperation of different numbers of grippers.At the same time,the experimental results and simulation results are compared one by one,and it is proved that the soft gripper meets the design requirements of light weight,fast response and high load.