Design And Performance Research Of Deep-Sea Soft Gripper System

There are many kinds of organisms bred in the ocean,which is an important research and exploration place for scientists in recent years.Many marine organisms are vulnerable to damage.Some sea cucumber and other soft organisms are variable and difficult to grasp.Precious cultural relics are vulnerable to damage when they are salvaged.Software manipulator has been extensively studied by scholars at home and abroad in recent years due to its good performance,and quickly becomes a key problem in the field of robotics.Depending on its large denaturation ability and infinite degrees of freedom,it can firmly adhere to the surface of the object by generating deformation according to the shape of the object to achieve a stable grasping action.Underwater soft robot hand has great application value in deep-sea non-destructive grasping.In this study,in order to solve some problems existing in the current software hand,such as low grasping success rate and poor grasping adaptability,and in order to solve the practical operation problems of the software hand in the deep sea environment,the corresponding development research work has been carried out on the software hand,the corresponding test platform has been established,a deep-sea software hand for deep-sea operation has been designed,and a variable structure multi-state software hand has been designed.(1)Based on the principle of bionics,by imitating the structure of Venus flytrap and human hand,as well as the configuration of grasping objects,the soft-bodied finger and softbodied grasp are designed.The variable structure soft hand is designed and the mathematical model is established to realize the effective grasping of different types of objects.To realize the sealing of the envelope soft hand,so that it can have the ability to work underwater.(2)The silica gel material was analyzed,the Yeoh superelastic constitutive model was established,the principle of the finite element simulation method was introduced in detail,the bending and deformation characteristics of the soft hand and the mechanical properties of the soft hand were analyzed,and the important structural parameters of the finger were optimized by the finite element simulation.(3)The manufacture of soft fingers and soft hands is studied,and the selection of soft finger materials is experimentally studied.Design and manufacture the envelope type soft hand mold,and manufacture the envelope type soft hand,and complete the assembly of the soft hand;design and manufacture the non-envelope type soft hand mold,and manufacture the non-envelope type soft hand,and complete the assembly of the soft hand.(4)Design the hydraulic driving system of the soft hand and the shape memory alloy driving system of the variable structure palm,test the flexility of the fingers of the soft hand and the contact force of the fingertip and finger belly,test the grasping force of the enveloping soft hand,and test the aquarium grasping ability of the enveloping deep-sea soft hand,and verify the safety and adaptability of the designed soft hand by comparison.Through the stability test of the designed variable structure soft hand,the adaptive grasping ability of the designed variable structure soft hand to different types of objects is demonstrated,and the variable structure ability of the soft hand is demonstrated.In the laboratory,114 Mpa high pressure driving grasping experiment was carried out on the designed envelope soft hand to verify the ten-thousandm-level compression operation ability of the designed soft hand.The enveloping deep-sea soft hand designed by the research institute was carried by Haidou-1 to carry out field deep-sea test at the depth of more than 10,000 meters in the Mariana Trench,which further proved the 10,000-meter operation capability of the enveloping deep-sea soft hand designed by the research Institute.To prove the excellent operating ability of the enveloped deep-sea soft hand designed in this study.