摘要
针对以往研究主要关注对已有手指结构的参数进行优化,而缺乏根据所需抓持性能进行结构设计的问题,提出了一种基于抓持力补偿策略的变刚度软性手指结构的优化设计方法。首先,为了更加全面地评估软性手指的抓持性能,提出了三种评价指标;为使所提出的基本结构手指具有更早且线性变化的抓持力及更好的抓持稳定性,提出了一种利用变刚度机构特性补偿手指抓持力的设计策略,并基于该策略设计出了一种悬臂梁结构变刚度手指;然后,利用ANSYS有限元分析软件,使用多目标优化方法对悬臂梁结构变刚度手指进行了结构优化,分析了悬臂梁变刚度特性,并将优化后的手指与基本结构手指的抓持性能进行了对比;最后,利用测试平台进行了抓持性能试验,对仿真结果进行了验证。研究结果表明:与基本结构手指相比,基于抓持力补偿策略所得手指的抓持力响应点提前了33.3%,抓持后期的抓持力变化线性拟合相关系数R 2高达0.9997,抓持力方向角减小了约71.4%;抓持力实验结果与仿真结果相比,抓持力的误差最大值小于0.5 N,抓持力方向角误差最大值小于4°,说明基于抓持力的补偿策略能够指导软性手指的设计,并有效提高手指的抓持性能。
In response to the issue of previous research primarily focusing on optimizing existing finger structures,but lacking in structural design based on the desired grasping performance,an optimization design method for a variable stiffness soft finger based on a grasping force compensation strategy was proposed.Firstly,to comprehensively assess the grasping performance of the soft finger,three evaluation metrics were introduced.To achieve earlier and more linear changes in grasping force and enhance grasping stability,a design strategy utilizing the characteristics of variable stiffness mechanism to compensate for the grasping force was proposed,resulting in the development of a cantilever beam variable stiffness finger.Then,the ANSYS finite element analysis software was employed,along with a multi-objective optimization approach,to optimize the cantilever beam variable stiffness finger s structure.The variable stiffness properties of the cantilever beam finger were analyzed and compared with the grasping performance of the basic finger structure.Finally,a testing platform was constructed to conduct grasping performance experiments and validate the simulation results.The research outcomes indicate that comparing to the basic finger structure,the finger obtained through the grasping force compensation strategy shows a 33.3%advancement in the grasping force response point,with a linear fitting coefficient(R 2)of 0.9997 for the grasping force variation in the later stage,and a reduction of approximately 71.4%in the grasping force direction angle.The experimental results of grasping force align closely with the simulation,with a maximum error of less than 0.5 N for the grasping force magnitude and less than 4°for the grasping force direction angle.These results demonstrate that the grasping force compensation strategy can guide the design of soft fingers and effectively enhance their grasping performance.
作者
徐礼涛
单晓微
李雪菲
XU Litao;SHAN Xiaowei;LI Xuefei(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China)
出处
《机电工程》
北大核心
2024年第1期137-148,共12页
Journal of Mechanical & Electrical Engineering
基金
北京建筑大学研究生创新项目(PG2023142)。
关键词
软性手指抓持性能
抓持力响应
补偿策略
自适应
悬臂梁结构变刚度手指
ANSYS有限元分析
grasp performance of soft finger
grasping force response
compensation strategy
adaptive
cantilever beam structure variable stiffness finger
ANSYS finite element analysis
