Research On Design And Control Of Soft Gripper Based On Industrial Robot

In recent years,with the development of intelligent materials and driving technology,soft robot has gradually become a research hotspot in the international field.As a typical representative of soft robot,soft gripper,compared with traditional rigid gripper,can realize soft contact and non-destructive grasping of fragile objects due to its material flexibility,and has good man-machine interaction and high safety.At present,the research of soft gripper is still in the preliminary stage,and there are many problems to be solved urgently,such as complex preparation process,difficult dynamic modeling and simulation,and low load capacity.Therefore,it is of great significance to study the theory and control technology of soft gripper based on industrial robots to promote its large-scale application.This paper takes the pneumatic soft gripper as the research object,A multi-finger software gripper based on industrial robot is designed and tested by using the single finger module of software gripper.In order to further improve the stiffness and flexibility of soft gripper,a double-cavity soft gripper with the variable stiffness was designed based on the magneto-pneumatic hybrid driving principle.Finally,the grasp control simulation of multi-finger gripper based on industrial robots is carried out based on the intelligent control algorithm.The specific research contents of this paper are as follows:This paper first designs a single finger module of a single cavity pneumatic drive soft gripper.Based on COMSOL software,the finite element simulation of the single finger module was carried out,and the relationship between air pressure and bending deformation was obtained.The mould of single-finger driving module was designed,the mould was prepared by 3D printing technology,and the preparation technology of single-finger driving module was explored.The fixed flange of the multi-finger software gripper is designed based on SOLIDWORKS software,and the assembly and connection with the industrial robot are completed.The control system of soft gripper is built.Finally,experimental verification is carried out.Due to the single pneumatic actuated multi-finger soft gripper with limited load,In addition,a single finger module of variable stiffness soft gripper based on magneto-pneumatic hybrid drive is designed.Based on ABAQUS software,the finite element analysis was carried out on the single finger module of magneto-gas hybrid drive,and the structural parameters were optimized.The winding model of excitation coil is constructed.Based on the finite element analysis of magnetic field strength of COMSOL software excitation coil,a multi-finger software gripper based on magneto-pneumatic hybrid drive is designed.A multi-finger gripper grasping motion control algorithm based on DQN(Deep Q Network)is proposed to realize intelligent motion control simulation of multi-finger gripper.Based on the ROS system,the grab simulation environment and the intelligent control algorithm of the multi-finger gripper based on industrial robot fetch were built,and the experimental simulation was conducted to verify the effectiveness of the proposed method.