| The appearance of the soft robot and gripper is to solve the security and flexibility problems of the traditional rigid manipulator in a complex environment in industrial and life.The soft gripper has the characteristics of infinite freedom,and will move objects and other operations in a better way than a rigid manipulator.At the same time,soft robot and gripper will not have any damage to the surface of the object to be grabbed,but the drawbacks of its composition materials also bring the weight of the object to be grabbed,so it is very suitable for a home service environment.In this thesis a kind of soft gripper driven by air is designed,and a clamping device with an adjustable grasping diameter is designed.The main research contents of this topic are as follows:The structure of the soft gripper and fixture is designed and finished.this thesis determines that the finger is made of Ecoflex 00-50 silicone rubber from smooth-on Company,The fingers are made by pouring and determined to be pneumatically driven.The structure of the inner cavity of the finger and the shape of the imitation human finger was designed,and the number of fingers was determined for efficient grasping.The finger fixture was designed,and a fixture reducer reducer mechanism was designed with a rocker slider mechanism as a prototype,which was realized by 3D printing.At the same time,finger molding molds are designed and manufactured.Finally,the overall structure of the service robot software gripper is integrated.Kinematic modeling and ABAQUS simulation analysis of the soft gripper are completed.For the kinematic modeling of the soft gripper,the piecewise constant curvature method is used to kinematic model a single finger.By establishing the PCC model,the relationship between the central coordinate of the finger end and its joint variables is analyzed.Based on this,the relationship between the finger joint variables and its Euler Angle is obtained through coordinate transformation calculation and derivation,to establish a close relationship between the three parameters of the finger.ABAQUS was used to conduct a mechanical simulation of soft fingers,and the relationship between input pressure and bending Angle.A soft sensor model of the bending Angle of a soft gripper driven by mechanism and data is proposed.The model is composed of a machine model and a compensation model of improved stochastic configuration networks(SCNs),That is,the adaptive block incrementally stochastic configures networks(ABSCN).The parameter identification of the machine model is carried out by the least-square method,the first-order unmodeled dynamics is predicted and compensation is used in ABSCN.To improve the compactness of the model and reduce the training time of the model,this thesis adaptively optimizes the number of incremental block configurations of BSC.Finally,the simulation experiments of the mixed model are compared with the real data,and the results show that the proposed method has a significant improvement in accuracy.Software gripper grasping system of service robot is built.It include device selection,driving air path design,control system design,simulation analysis of important control links,and experimental platform construction.The pressure-bending Angle experiment and pressure-output force experiment of the finger end were carried out on a single finger,as the sensor calibration,and the grasp experiment,to realize the stable grasp of objects of different shapes and sizes,to achieve the corresponding requirements of the service robot. |
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