柔性机械夹爪关节的结构设计与优化-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Structural Design and Optimization of Flexible Mechanical Gripper Joint

作者:: 褚若波1; 瞿嘉琦1; 王涛1; 陈立成2; 杨凯3; (1.泉州师范学院物理与信息工程学院，福建泉州 362000；2.福建省莆田市衡力传感器有限公司，福建莆田 351100；3.华侨大学机电及自动化学院，福建厦门 361021)

Author(s):: CHU Ruobo1; QU Jiaqi1; WANG Tao1; CHEN Licheng2; YANG Kai3; (1.College of Physics and Information Communication,Quanzhou Normal University,Quanzhou 362000,China；2.Fujian Putian Hengli Sensor Co.,Ltd.,Putian 351100,China；3.College of Mechanical Engineering and Automation,Huaqiao University,Xiamen 361021，China)

Keywords:: flexible mechanical gripper; fin effect; clamping performance; finite element analysis; SolidWorks software

摘要:: 基于鳍条效应，使用SolidWorks结构设计仿真软件设计一种柔性机械夹爪结构。使用有限元分析工具，分析了相同爪型尺寸下指关节数对应力应变的影响，并测试了不同气压条件下夹爪的抓取性能。研制天然橡胶关节夹爪实物，通过试验平台进行了不同压力下的夹取性能试验，验证有限元仿真结果。实验结果表明：结构为六指关节数的天然橡胶材质的鳍形夹爪具有最佳的夹取性能。

Abstract:: Based on the fin effect, a flexible mechanical gripper structure was designed using SolidWorks structural design simulation software.By employing finite element analysis,the influence of the number of finger joints on stress and strain under the same claw size was analyzed,and the gripping performance of the gripper under different air pressure conditions was tested.A physical natural rubber joint gripper was developed and conducted gripping performance tests on a testing platform under different pressures,which were then used to verify the results from finite element simulations.Results indicate that the fin shaped gripper made of natural rubber material with a structure of 6 finger joints has the best gripping performance.