Research On Pneumatic Network Soft Gripper And Multimode Grab Technology

Soft grippers are usually made of flexible materials and can continuously deform themselves,with the power source being the soft actuators.Compared with traditional rigid grippers,it has higher flexibility,safety,and environmental adaptability,and has obvious advantages in human-machine interaction and the grasping of complex and fragile items.This paper focuses on the main technical points of the soft gripper and designs a pneumatic-network soft gripper with multiple grasping modes.The structural design,simulation,production of the pneumatic-network soft actuator and the structure of the soft gripper converting multiple grasping modes are studied.I have designed and produced a pneumatic-network soft actuator that can bend in both directions and a soft gripper that can convert multiple grasping modes.An analysis was conducted on the pneumatic grid type soft actuators,and a prototype of the pneumatic-network soft actuators was designed.Based on the assumption of piecewise constant curvature,the kinematics model of the soft actuator is established,and the main parameters affecting the bending characteristics of the soft actuator are obtained.The ABAQUS was used to simulate the bending characteristics of the soft actuators.The Yeoh model was used to describe the properties of the silicone material.The effects of driving pressure,thickness of the limiting layer,wall thickness on the upper and side walls of the air chamber,thickness of the air chamber,and number of air chambers on the bending characteristics of the soft actuators were studied.The relationship between them was analyzed,and the structure of the soft actuators was optimized through orthogonal experiments,ultimately determining the optimal structural parameters of the soft actuators.Design a mold for making a soft actuator,conduct a detailed study of the manufacturing process of the soft actuator,and describe some key technologies in the manufacturing process.After completing the production of the soft actuator,its bending characteristics,fingertip force,and response speed were tested.The test results showed that the soft actuator had good bending performance,fingertip force,and bending response speed.A study was conducted on grippers with multiple gripping modes,with soft actuators as the core.The conversion structure for converting gripping modes was designed,and the structural design of the multi-mode soft gripper was completed.Based on the types of common objects,inward grasping mode,outward grasping mode,inward parallel grasping mode,outward parallel grasping mode,two finger grasping mode,and suction cup grasping mode were designed to achieve targeted grasping.The grasping strategies and driving strategies of the six grasping modes were studied.Establish an experimental platform for testing the gripping performance of pneumatic-network soft gripper and conduct maximum gripping weight tests and static multi object gripping tests on soft grippers under different gripping modes.It is specified that successful gripping is achieved when the object is not detached within 10 seconds.The experimental results show that the pneumatic-network soft gripper has the best gripping performance in the inward grasping mode,and this gripper can stably grasp different types of objects in different grasping modes,with a wider range of application scenarios.