论文标题
一种新型的可变刚度软机器人抓手
A Novel Variable Stiffness Soft Robotic Gripper
论文作者
论文摘要
我们提出了一种新型的三指软机器人抓手，具有脱钩的刚度和形状控制能力，可通过最小的系统复杂性执行自适应抓握。拟议的软手指适应物体形状，促进了对物体的处理不同类型，形状和尺寸的处理。每个软手指的手指都有不可延迟的明确主链，并由气动肌肉驱动。我们得出了抓地力的运动学模型，并使用经验方法将输入压力映射到手指的刚度和弯曲变形。我们使用这些映射来实现脱钩的刚度和形状控制。我们进行测试以量化随着握把变化方向的变化，随着抓地力移动而保持握把状态的能力以及分别从手指上释放物体所需的力量的能力，以量化对象的能力。结果验证了拟议的抓手的性能，并显示了刚度控制如何改善抓地力质量。
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes facilitating the handling of objects of different types, shapes, and sizes. Each soft gripper finger has an inextensible articulable backbone and is actuated by pneumatic muscles. We derive a kinematic model of the gripper and use an empirical approach to map input pressures to stiffness and bending deformation of fingers. We use these mappings to achieve decoupled stiffness and shape control. We conduct tests to quantify the ability to hold objects as the gripper changes orientation, the ability to maintain the grasping status as the gripper moves, and the amount of force required to release the object from the gripped fingers, respectively. The results validate the proposed gripper's performance and show how stiffness control can improve the grasping quality.
