基于主动包络和负压塑形的软体适形夹持器
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摘要
借鉴软体生物的结构和功能特点,设计并制作一种气动软体塑形夹持装置。该装置的夹爪由软体材料制成,软体夹爪能张开和闭合,实现双向弯曲以夹持或释放物体。同时,提出多腔室软体和负压塑形单元相结合的结构型式,并得出技术实现方案,即用细颗粒物填充末端气囊,充气后先适应物体外轮廓发生变形,继而抽真空使气囊固化为夹持物外形,从而与物体形成可靠约束,对于外形尺寸不规则的异型件有良好的夹持效果。试制完成的塑形夹持装置以气压驱动的软体结构增大夹持装置与物体的接触面积,并采用负压塑形技术以大幅提高形状适应能力。研究成果为软体塑形夹持装置提供了理论和技术支持,可为食品分拣、海洋生物研究、混流生产等领域提供有益参考。
A new type of pneumatic soft gripper is designed and fabricated inspired by the structure and function of mollusk. The gripper jaws of this device are made of soft silicone, which open and close, and bidirectional bending is achieved to hold or release the object. At the same time, a new structure composed of high-density elastic multi-chamber soft body and vacuum shaping structures is proposed. The technical scheme is made to fill the shaping bag with granular material to conform to the object shape and a reliable constraint is realized between the gripper and the object under vacuum conditions. Therefore, good gripping performance is obtained for unfamiliar objects of variable shapes. In the fabricated device, soft adaptive bodies enlarge the contact area to adapt to the work-piece. Meanwhile, the vacuum shaping elements are added to increase shape adaptive capacity. It is useful for soft adaptive gripper design, to provide theoretical and technical support for food selection, marine biology study and mixed flow manufacturing lines.
A new type of pneumatic soft gripper is designed and fabricated inspired by the structure and function of mollusk. The gripper jaws of this device are made of soft silicone, which open and close, and bidirectional bending is achieved to hold or release the object. At the same time, a new structure composed of high-density elastic multi-chamber soft body and vacuum shaping structures is proposed. The technical scheme is made to fill the shaping bag with granular material to conform to the object shape and a reliable constraint is realized between the gripper and the object under vacuum conditions. Therefore, good gripping performance is obtained for unfamiliar objects of variable shapes. In the fabricated device, soft adaptive bodies enlarge the contact area to adapt to the work-piece. Meanwhile, the vacuum shaping elements are added to increase shape adaptive capacity. It is useful for soft adaptive gripper design, to provide theoretical and technical support for food selection, marine biology study and mixed flow manufacturing lines.
引文
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[2]曹玉君,尚建忠,梁科山,等.软体机器人研究现状综述[J].机械工程学报,2012,48(3):25-33.CAO Yujun,SHANG Jianzhong,LIANG Keshang,et al.Review of soft-bodied robots[J].Chinese Journal of Mechanical Engineering,2012,48(3):25-33.
[3]TRIVEDI D,RAHN C D,KIER W M,et al.Soft robotics:Biological inspiration,state of the art,and future research[J].Applied Bionics&Biomechanics,2008,5(3):99-117.
[4]RUS D,TOLLEY M T.Design,fabrication and control of soft robots[J].Nature,2015,521(7553):467-475.
[5]FESTO.FlexShapeGripper[EB/OL].https://www.festo.com/group/zh/cms/10217.htm,2015-2017.
[6]ILIEVSKI F,MAZZEO A D,SHEPHERD R F,et al.Soft robotics for chemists[J].Angewandte Chemie,2011,123(8):1930-1935.
[7]STOKES A,SHEPHERD F,MORIN A,et al.A hybrid combining hard and soft robots[J].Soft Robotics,2013,1(1):70-74.
[8]Octopus-inspired robot‘hands’delicate enough to grasp a tomato[EB/OL].http://www.betaboston.com/news/2015/06/07/soft-robotics-octopus-inspired-robot-hands-delicate-enough-to-grasp-a-tomato/
[9]朱晓强,何国田,吴姣娇,等.基于磁流变液的柔性夹持装置及夹持方法:中国,CN103831837A[P].2014.ZHU Xiaoqiang,HE Guotian,WU Jiaojiao,et al.Flexible gripping device and clamping method based on magnetorheological fluid:Chinese Patent,CN103831837A[P].2014.
[10]叶敏,熊俊涛,罗承宇,等.一种多类型果蔬采摘的磁流变适型夹持器及机器人:中国,CN 102550215 A[P].2012.YE Min,XIONG Juntao,LUO Chengyu,et al.A kind of multi-type garden stuff picking of the magnetorheological fit gripper and robot:China,CN 102550215 A[P].2012.
[11]LIU A J,NAGEL S R.Nonlinear dynamics:Jamming is not just cool any more[J].Nature,1998,396(6706):21-22.
[12]HUIJBEN F,HERWIJNEN F,NIJSSE R V.3D-Formwork Systems:Customized free-form solidification[C]//International Conference on Textile Composites and Inflatable Structures,2009:1-4.
[13]LI M,RANZANI T,SAREH S,et al.Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators[J].Smart Materials and Structures,2014,23(9):639-650.
[14]CIANCHETTI M,RANZANI T,GERBONI G,et al.STIFF-FLOP surgical manipulator:mechanical design and experimental characterization of the single module[C]//proceedings of the Intelligent Robots and Systems(IROS),2013 IEEE/RSJ International Conference on.IEEE,2013:3576-3581.
[15]CHENG N G,LOBOVSKY M B,KEATING S J,et al.Design and analysis of a robust,low-cost,highly articulated manipulator enabled by jamming of granular media[C]//proceedings of the Robotics and Automation(ICRA),2012 IEEE International Conference on.IEEE,2012:4328-4333.
[16]STELTZ E,MOZEIKA A,RODENBERG N,et al.Jsel:Jamming skin enabled locomotion[C]//proceedings of the Intelligent Robots and Systems,2009 IROS 2009IEEE/RSJ International Conference on.IEEE,2009:5672-5677.
[17]WALL V,DEIMEL R,BROCK O.Selective stiffening of soft actuators based on jamming[C]//proceedings of the Robotics and Automation(ICRA),2015 IEEEInternational Conference on.IEEE,2015:252-257.
[18]BROWN E,RODENBERG N,AMEND J,et al.Universal robotic gripper based on the jamming of granular material[J].Proceedings of the National Academy of Sciences,2010,107(44):18809-18814.
[19]AMEND J,BROWN E,RODENBERG N,et al.Apositive pressure universal gripper based on the jamming of granular material[J].IEEE Transactions on Robotics,2012,28(2):341-350.
[20]BROWN E,RODENBERG N,AMEND J,et al.Universal robotic gripper based on the jamming of granular material[J].PNAS,2010,107(44):18809-18814.
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