Design And Experimental Study Of A Fully Enclosed Flexible Mechanical Claw Based On The Origami Principle

As an execution part of the interaction between robots and working objects in industrial production,grippers are widely used in all aspects of production and life.Soft grippers are characterized by wide applicability and strong safety,which traditional rigid mechanical grippers do not have.Origami structure can be combined with soft and lightweight materials and folded according to predetermined creases in order and regularity,which can well solve the problems of cumbersome assembly and small relative gripping force existing in the current soft grippers.Based on this,according to the characteristics of Miura origami,this paper designed a fully enclosed soft gripper based on Miura origami structure,and carried out spatial geometric analysis,finite element simulation and a number of performance tests.The main work is as follows:(1)A design method of soft gripper based on Miura origami was presented.First of all,according to the basic parameters of Miura origami,the folding structure of soft gripper was analyzed by spatial geometry.The relationship between the clamping radius,the percentage of contraction and the parameters of Miura element in the clamping process of soft gripper is deduced,which founding l₂does not affect the size of the clamping radius,will only affect the whole oft gripper thickness and structure of origami diameter.The larger the side or the thinner the material,the greater the percentage of contraction.In addition,the force conduction of the wire drive was analyzed.And the relationship between the input force and the output force was deduced.It was found that the number of origami units per layer of the soft gripper was set as 12.(2)The clamping force of the fully surrounded soft gripper based on origami principle is numerically analyzed.The effects of Young's modulus,thickness and folding Angle on clamping force were analyzed by using finite element software.It is found that the clamping force curve is not affected by Young's modulus and increases linearly without buckling deformation.The thickness of the origami material has little influence on the clamping force curve.In the clamping process,the contact between the fully enclosed soft gripper of the origami principle and the clamping object will not have obvious buckling deformation.And the energy will not be absorbed.Therefore,the clamping force has little influence.It is found that the size of the angle is related to the radius of the structure of the origami,while has little effect on the clamping force curve.(3)A prototype of the fully enclosed soft gripper based on the principle of Miura origami was prepared.And various of performance tests were carried out on it.The clamping force test was carried out to verify the correctness of the finite element analysis results.And the clamping force obtained was in the same general trend as the cue tension.The maximum load-mass ratio of the fully enclosed soft gripper based on origami principle is 106.Second,by to grab objects of different shape,size,rigidity,studied the principle of origami surrounded by all of adaptability.Soft gripper clamping process is stable and reliable,and safe condition,especially to pour a cone or spherical object.Therefore,compared with the traditional gripper,origami surrounded by all of the principle of the flexible gripper has a wider scope of application.In addition,the clamping condition test of multiple objects was carried out.Multiple objects could be simultaneously clamped by using the fully enclosed folding soft gripper of origami principle.And it was found that it had a certain folding regularity,which was influenced by the following factors:the shape,the initial position,and the object.