Research On The Soft Manipulator With Negative Pressure Adsorption

With the vigorous development of the field of industrial automation,industrial robots are increasingly widely used in structural chemical plants.However,in unstructured environments,compared to traditional rigid robots,software robots have higher flexibility,flexibility,and better human-computer interaction capabilities,and are widely used.As an end effector,software grippers are also an important branch in software robot systems.Common software grippers are made of hyperelastic materials.The properties of elastic materials determine the low stiffness characteristics of software grippers,leading to the problem of insufficient grasping load when grasping large objects,limiting the application and development of software grippers.In this paper,a negative pressure adsorption type software manipulator is designed,and detailed analysis is conducted from structural design,simulation analysis,manufacturing process,and grasping experiments.The main research contents are as follows:(1)Through in-depth analysis of existing driving methods and research on adsorption type software manipulators,the overall structure of a gas driven and negative pressure adsorption software manipulator was determined,and the software manipulator was fabricated using silica gel material and 3D printing technology.In order to achieve the positive pressure of the driving layer to complete the bending and grasping action,and the negative pressure adsorption layer to complete the adsorption of objects by applying vacuum and negative pressure,the driving layer and the adsorption layer of the soft manipulator are designed.At the same time,in order to improve the gripping radius range of the software gripper,and thereby improve the gripping versatility of the software manipulator,a fixture base that can change the gripping diameter is designed.(2)The Yeoh constitutive equation parameters of Ecoflex 0030 silicone material were analyzed,and the finite element simulation analysis of the soft manipulator was performed using ABAQUS software.The design of the size and structure of the soft manipulator was optimized,and a mathematical model of the inflation pressure and bending angle of the soft finger was established.(3)Have made a software manipulator.Use Ecoflex 0030 silicone material to make the driving layer and adsorption layer of the soft finger,3D print out the finger clamp,and complete the overall assembly.An experimental platform was built to test the maximum load carrying capacity,object grasping diameter range,and versatility of the software manipulator under different air pressures,verifying that the designed software manipulator has excellent grasping performance.The experimental test results show that the negative pressure adsorption type soft manipulator designed in this paper improves the maximum load capacity of the object by 75% in the adsorption state,and has good grasping performance in the process of grasping large,irregular,fragile,and fragile objects.