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[1]马玮城,林金润,陈玮浩,等.绳驱单关节柔性手指的优化设计[J].厦门理工学院学报,2021,29(1):16-21.[doi:1019697/jcnki16734432202101003]
 MA Weicheng,LIN Jinrun,CHEN Weihao,et al.Design and Optimization of the Wireropedriven Singlejointed Soft Finger[J].Journal of JOURNAL OF XIAMEN,2021,29(1):16-21.[doi:1019697/jcnki16734432202101003]
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《厦门理工学院学报》[ISSN:1673-4432/CN:35-1289/Z]

卷:
29
期数:
2021年第1期
页码:
16-21
栏目:
电气工程与自动化
出版日期:
2021-02-28

文章信息/Info

Title:
Design and Optimization of the Wireropedriven Singlejointed Soft Finger
文章编号:
16734432(2021)01001606
作者:
马玮城林金润陈玮浩徐敏宦智杰
厦门理工学院电气工程与自动化学院,福建 厦门 361024
Author(s):
MA WeichengLIN JinrunCHEN WeihaoXU MinHUAN Zhijie
School of Electrical Engineering & Automation,Xiamen University of Technology,Xiamen 361024,China
关键词:
单关节柔性手指绳驱动结构设计 ANSYS仿真
Keywords:
singlejointed soft fingerwireropedrivenstructure designANSYS simulation
分类号:
TP39173
DOI:
1019697/jcnki16734432202101003
文献标志码:
A
摘要:
为提高柔性手指的驱动性能,结合可3D打印成型的柔性材料与拉线驱动技术,设计单关节的绳驱动柔性手指结构。通过SolidWorks建模与ANSYS有限元仿真对比波纹状与锯齿状柔性手指外形结构的变形特性,对锯齿状柔性手指做了薄壁化设计,在薄壁结构的基础上引入单侧部分填充的空腔构型,分析不同填充比例对手指性能的影响。研究结果表明:优化后的、内部填充1/3的锯齿状柔性手指结构弯曲时所需绳索驱动力相对较小,同时可以保证内部应力分布均匀,能够在允许的变形范围内模拟手指的弯曲动作。
Abstract:
To improve its driving performance,a wireropedriven singlejointed soft finger is constructed using 3D printed material and cable driven technology.3D structure of the soft finger is modelled with Solidworks,characteristics of its corrugated structure and jagged structure compared with ANSYS finite element analysis,and thinshell structure design is introduced.On this basis,partly filled hollow structure is formed to find out the performance of the soft fingers with different degrees of internal filling.The results indicate that the optimized jagged structure with 1/3 filler requires relatively low driven force while maintaining uniform distribution of stress and able to imitate the bending action of human fingers within its deformation range.

参考文献/References:

[1] 张进华,王韬,洪军,等.软体机械手研究综述[J].机械工程学报,2017,53(13):1928. [2] CASE J C,WHITE E L,KRAMER R K.Softmaterial characterization for robotic applications[J].Soft Robotics,2015,2(2):8087. [3] DROTMAN D,ISHIDA M,JADHAV S,et al.Applicationdriven design of soft,3D printed,pneumatic actuators with bellows[J].IEEE/ASME Transactions on Mechatronics,2018,24(1):7887. [4] YANG Y,CHEN Y,WEI Y,et al.Noveldesign and 3D printing of variable stiffness robotic grippers[J].Journal of Mechanisms and Robotics,2016,8(6):061 010. [5] JIN H,DONG E,XU M,et al.Tunable smart digital structure (SDS) to modularly assemble soft actuators with layered adhesive bonding[J].Smart Materials and Structures,2018,27(1):015 012. [6] LIU A C,GILLEN J H,MISHRA S R,et al.Photothermally and magnetically controlled reconfiguration of polymer composites for soft robotics[J].Science Advances,2019,5(8):eaaw2897. [7] YANG L,ZHANG T,SUN W.Construction of biocompatible bilayered lightdriven actuator composed of rGO/PNIPAM and PEGDA hydrogel[J].Journal of Applied Polymer Science,2020,137(44):49 375. [8] IN H,LEE H,JEONG U,et al.Feasibility study of a slack enabling actuator for actuating tendondriven soft wearable robot without pretension[C]∥IEEE International Conference on Robotics & Automation.Seattle,USA:IEEE,2015:1 2291 234. [9] JEONG U,IN H K,CHO K J.Implementation of various control algorithms for hand rehabilitation exercise using wearable robotic hand[J].Intelligent Service Robotics,2013,6(4):181189.

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备注/Memo

备注/Memo:
收稿日期:20200826修回日期:20201211 基金项目:国家自然科学基金项目(61903315,62003285);福建省自然科学基金项目(2019J01869,2019J05124);厦门市留学人员科研项目(厦人社〔2018〕310号,厦人社〔2019〕232号) 通信作者:马玮城,女,讲师,博士,研究方向为电磁驱动控制技术、微纳机器人操作等,Email:2017000030@xmut.edu.cn
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