CN-117124361-B - Design method of soft grabbing robot

CN117124361BCN 117124361 BCN117124361 BCN 117124361BCN-117124361-B

Abstract

The invention provides a design method of a soft grabbing robot, which comprises the steps of firstly designing different mixed variable stiffness mechanisms, manufacturing corresponding mixed variable stiffness soft drivers, then building a pneumatic driving test platform and a variable stiffness performance test platform, then carrying out bending performance test and stiffness test on each mixed variable stiffness soft driver, finally carrying out comparison analysis on the bending performance and variable stiffness capacity of the mixed variable stiffness soft drivers, and selecting the mixed variable stiffness soft driver with the best comprehensive performance. According to the invention, three different drivers are manufactured, a pneumatic driving test platform and a variable stiffness performance test platform are built, and bending performance test and stiffness test are performed on the three manufactured hybrid variable stiffness soft drivers, so that the bending performance and the variable stiffness performance are simultaneously considered.

Inventors

XU FENGYU
WU XUECHAO
MA KAIWEI
Wei Miaohang
FAN BAOJIE
SONG YURONG

Assignees

南京邮电大学

Dates

Publication Date: 20260505
Application Date: 20230829

Claims (4)

1. The design method of the soft grabbing robot is characterized by comprising the following steps of: step 1, designing different mixed variable stiffness mechanisms and manufacturing corresponding mixed variable stiffness soft drivers; the process for designing the hybrid variable stiffness mechanism specifically comprises the following steps: the design of the mixed rigidity-changing mechanism is that particles and thin slices are coupled in a film from top to bottom, and three layers of materials are sequentially arranged in the film from top to bottom; the second step of designing the mixed rigidity-changing mechanism is to couple the thin sheet and the particles back and forth to the same thin film, and stack the particles and the thin sheet up and down at the tail end of the rigidity-changing structure; The third step of designing a mixed variable stiffness mechanism, namely coupling particles and thin slices into different films in sections, wherein each film is communicated with a vacuum pump; the hybrid variable stiffness software driver includes: The mixed variable stiffness soft driver I comprises a mixed variable stiffness mechanism I and a pneumatic driving structure bonded on the mixed variable stiffness mechanism I, wherein the pneumatic driving structure comprises a limiting layer and a strain layer, the lower end of the strain layer is bonded on the limiting layer, and the strain layer comprises a plurality of air bags which are arranged at intervals and communicated with an air cavity in the limiting layer; the second mixed variable-stiffness soft driver comprises a second mixed variable-stiffness mechanism and a pneumatic driving structure bonded on the second mixed variable-stiffness mechanism; The third hybrid variable stiffness soft driver comprises a third hybrid variable stiffness mechanism and a pneumatic driving structure bonded on the third hybrid variable stiffness mechanism; Step 2, building a pneumatic driving test platform and a variable stiffness performance test platform; Step 3, performing bending performance test and rigidity test on each mixed variable-rigidity soft driver; and 4, performing comparative analysis on bending performance and variable stiffness capacity of the mixed variable stiffness soft driver, and selecting the mixed variable stiffness soft driver with the best comprehensive performance.
2. The method of designing a soft gripping robot according to claim 1, wherein in step 2, the pneumatically driven test platform comprises: The first bracket is used for clamping the tail end of the mixed variable-rigidity soft driver; The air compressor is connected with the pneumatic controller, the output end of the air compressor is connected with the air inlet interface of the pneumatic controller, and the air outlet interface of the pneumatic controller is connected with the air cavity in the limiting layer; the first upper computer is connected with a communication interface of the pneumatic controller; Wherein, the bending angle theta is defined as the axis from one point at the end of the soft driver to one point at the fixed end and the axis passing through one point at the fixed end, and the included angle between the two axes; The variable stiffness performance test platform comprises: The second bracket is used for clamping one end of the mixed variable-stiffness soft driver and is adjustable in height, and the tail end of the mixed variable-stiffness soft driver is attached to the pressure sensor on the linear guide rail; the vacuum pump is used for providing negative pressure to the cavity in the limiting layer, and the input end of the vacuum pump is sequentially connected with the vacuum pressure gauge and the cavity in the limiting layer; the linear guide rail controller controls the linear guide rail to move horizontally and is connected with the upper computer through signals; The pressure indicator is connected with the upper computer through two signals; Wherein the stiffness of the soft driver tip to be measured is defined as the value of the ratio of soft driver tip pressure to tip movement distance.
3. The method for designing a soft gripping robot according to claim 1, wherein step 3 comprises: Bending performance test, namely respectively carrying out inflation bending experiments on a soft driver without embedded blocking materials and three variable stiffness soft drivers after embedded materials; firstly, respectively setting the input air pressure in a pneumatic controller to be 0KPa-60KPa, wherein each time is separated by 10KPa; Repeating the experiment for 5 times under each input air pressure, taking the average value of the bending angles theta, and fitting the data obtained by the experiment into an input air pressure-bending angle curve graph; The stiffness test includes: firstly, setting vacuum degree by using a vacuum pressure gauge, and increasing 20KPa each time between 0KPa and 80 KPa; Then controlling the sliding block to move by a guide rail controller, moving for 2mm each time between 0mm and 20mm, and recording the corresponding pressure of each moving position; Under each vacuum degree condition, moving from 0mm to 20mm is an experiment, repeating 5 times of experiments, and taking an average value of pressure corresponding to each moving position; finally according to the definition of rigidity And measuring the average value of the pressure corresponding to each moving position and the sliding distance corresponding to each moving position to obtain a numerical value of rigidity, and finally obtaining a sliding distance-rigidity diagram under different vacuum degrees.
4. The method for designing a soft gripping robot according to claim 1, wherein step 4 includes: according to the input air pressure-bending angle curve graph and the sliding distance-stiffness graphs under different vacuum degrees, the bending performance and the variable stiffness performance of each soft driver are respectively compared with the other two soft drivers, and the soft driver with the relatively optimal bending performance and variable stiffness performance is selected as the soft grabbing robot.

Description

Design method of soft grabbing robot Technical Field The invention belongs to the technical field of variable-rigidity software drivers, and particularly relates to a design method of a software grabbing robot. Background Soft gripping robots are used in many industrial applications and are often used in industrial lines to grip fragile objects, thereby replacing the gripping position of rigid gripping robots in this respect. The need for soft gripping robots in industrial applications is mainly to have a certain adaptability, bending movement capability and loading capability. The adaptability is strong, the soft grabbing robot can be helped to better fit with the object, and the good bending motion capability can be helped to wrap and grab the object. Disclosure of Invention The invention aims to provide a design method of a soft grabbing robot, which enables the soft grabbing robot to simultaneously have bending performance and rigidity changing performance. In order to achieve the above purpose, the following technical scheme is adopted: a design method of a soft grabbing robot comprises the following steps: step 1, designing different mixed variable stiffness mechanisms and manufacturing corresponding mixed variable stiffness soft drivers; Step 2, building a pneumatic driving test platform and a variable stiffness performance test platform; Step 3, performing bending performance test and rigidity test on each mixed variable-rigidity soft driver; and 4, performing comparative analysis on bending performance and variable stiffness capacity of the mixed variable stiffness soft driver, and selecting the mixed variable stiffness soft driver with the best comprehensive performance. Preferably, in step 1, the process of designing the hybrid variable stiffness mechanism specifically includes: the design of the mixed rigidity-changing mechanism is that particles and thin slices are coupled in a film from top to bottom, and three layers of materials are sequentially arranged in the film from top to bottom; the second step of designing the mixed rigidity-changing mechanism is to couple the thin sheet and the particles back and forth to the same thin film, and stack the particles and the thin sheet up and down at the tail end of the rigidity-changing structure; The third step of designing a mixed variable stiffness mechanism, namely coupling particles and thin slices into different films in sections, wherein each film is communicated with a vacuum pump; the hybrid variable stiffness software driver includes: The mixed variable stiffness soft driver I comprises a mixed variable stiffness mechanism I and a pneumatic driving structure bonded on the mixed variable stiffness mechanism I, wherein the pneumatic driving structure comprises a limiting layer and a strain layer, the lower end of the strain layer is bonded on the limiting layer, and the strain layer comprises a plurality of air bags which are arranged at intervals and communicated with an air cavity in the limiting layer; the second mixed variable-stiffness soft driver comprises a second mixed variable-stiffness mechanism and a pneumatic driving structure bonded on the second mixed variable-stiffness mechanism; The third hybrid variable stiffness soft driver is a pneumatic driving structure which is bonded on the third hybrid variable stiffness mechanism. Preferably, in step 2, the pneumatically driven test platform comprises: The first bracket is used for clamping the tail end of the mixed variable-rigidity soft driver; The air compressor is connected with the pneumatic controller, the output end of the air compressor is connected with the air inlet interface of the pneumatic controller, and the air outlet interface of the pneumatic controller is connected with the air cavity in the limiting layer; the first upper computer is connected with a communication interface of the pneumatic controller; Wherein, the bending angle theta is defined as the axis from one point at the end of the soft driver to one point at the fixed end and the axis passing through one point at the fixed end, and the included angle between the two axes; The variable stiffness performance test platform comprises: The second bracket is used for clamping one end of the mixed variable-stiffness soft driver and is adjustable in height, and the tail end of the mixed variable-stiffness soft driver is attached to the pressure sensor on the linear guide rail; the vacuum pump is used for providing negative pressure to the cavity in the limiting layer, and the input end of the vacuum pump is sequentially connected with the vacuum pressure gauge and the cavity in the limiting layer; the linear guide rail controller controls the linear guide rail to move horizontally and is connected with the upper computer through signals; The pressure indicator is connected with the upper computer through two signals; Wherein the stiffness of the soft driver tip to be measured is defined as the value of the ratio of