基于气腔驱动的柔性夹持器设计与弯曲性能研究

Design and Bending Performance Analysis of a Pneumatic Flexible Gripper

摘要

为了提高夹持器对物体抓取的柔顺性和稳定性，提出一种基于硅橡胶作为致动层材料的气动刚柔耦合夹持器。首先，基于描述硅橡胶非线性变形特征的 Yeoh 本构模型与虚功原理，确定单个夹持器关节气腔充气后的变形量与驱动气压的关系；然后，推导出两相邻关节间局部偏转角与致动层气腔变形量的解析关系；最后，通过坐标变换得到末端关节相对于近端关节的偏转角度，建立夹持臂整体弯曲变形性能的预估数学模型。结果表明，夹持器可通过调整关节数量改变夹持器的姿态和夹持范围实现自适应包络。当气压处于0∼100kPa 时，由4个关节串联构成的夹持臂偏转角度可达0^∘∼20^∘ ，夹持负载可达约20N 。

Abstract

To improve the grasping compliance and stability of the gripper，a pneumatic rigid-flexible coupled gripper is proposed，featuring actuation layers made of silicone rubber.Firstly，based on the Yeoh constitutive model describing the nonlinear deformation of silicone rubber and the principle of virtual work，the relationship between the deformation of a single joint’s air chamber and the driving pressure is determined.Then，the analytical relationship between the local deflection angle of two adjacent joints and the deformation of the actuation layer’s air chamber is derived.Finally，through coordinate transformation，the deflection angle of the end joint relative to the proximal joint is obtained， establishing a mathematical model to predict the overall bending deformation performance of the gripper arm.Experimental results show that the gripper’s posture and grasping range can be changed by adjusting the number of joints to achieve adaptive enveloping.When the air pressure is in the range of 0 to 100 kPa ，the deflection angle of the gripper arm，which consists of four joints connected in series，ranges from 0^∘ to 20^∘ ，and the grasping load can reach approximately 20 N .

关键词

柔性夹持器 / 气动 / 自适应包络 / 弯曲变形

Key words

flexible gripper / pneumatic actuation / adaptive enveloping / bending deformation

参考文献

[1] Dzedzickis A, Petroniené J J, Petkevičius S, et al. Soft grippers in robotics:progress of last 10 years[J]. Machines, 2024, 12(12): 887.

[2] Abozaid Y A, Aboelrayat M T, Fahim I S, et al. Soft robotic grippers:a review on technologies,materials,and applications[J]. Sensors and Actuators A:Physical, 2024, 372: 115380.

[3] Meng X Y, Xie J Q, Pang H R, et al. Design of dielectric elastomer actuator and its application in flexible gripper[J]. Micromachines, 2025, 16(1): 107.

[4] Pan J, Yu J J, Pei X. A novel shape memory alloy actuated soft gripper imitated hand behavior[J]. Frontiers of Mechanical Engineering, 2022, 17(4):44.

[5] Xu M, Liu Y, Li J L, et al. Review of flexible robotic grippers,with a focus on grippers based on magnetorheological materials[J]. Materials, 2024, 17(19): 4858.

[6] Hiremath S, Mathias K A, Kim T W. 3D-Printed soft pneumatic actuators:enhancing flexible gripper capabilities[J]. ROBOMECH Journal, 2025, 12(1): 26.

[7] Xu S M, Du H M, Zhang S S, et al. A pneumatic fingerless soft gripper for envelope gripping[J]. Actuators, 2024, 13 (10): 418.

[8] Li L T, Crosby D, Shuttleworth M, et al. A comparative analysis and scoping review of soft-rigid and industrial parallel rigid grippers[J]. Advanced Intelligent Systems, 2025, 7(5): 2400503.

[9] Navas E, Shamshiri R R, Dworak V, et al. Soft gripper for small fruits harvesting and pick and place operations[J]. Frontiers in Robotics and AI, 2024, 10: 1330496.

[10] Liu Y X, Hou J X, Li C Y, et al. Intelligent soft robotic grippers for agricultural and food product handling:a brief review with a focus on design and control[J]. Advanced Intelligent Systems, 2023, 5(12): 2300233.

[11] 王国权, 刘萌, 姚艳春, 等. 不同本构模型对橡胶制品有限元法适应性研究[J]. 力学与实践, 2013, 35(4):40-47.

[12] Wang G Q, Liu M, Yao Y C, et al. Application of different constitutive models in the nonlinear finite element method for rubber parts[J]. Mechanics in Engineering, 2013, 35 (4): 40-47. (in Chinese)

[13] 闫昱全, 宋国臣. 基于Mooney-Rivlin模型的船用密封圈设计及试验验证[J]. 橡胶科技, 2023, 21(7):325-329.

[14] Yan Y Q, Song G C. Design and experimental verification of marine sealing ring based on mooney-rivlin model[J]. Rubber Science and Technology, 2023, 21(7):325-329. (in Chinese)

[15] Liu X M, Wang Y Q, Geng D X, et al. Mechanical character- istics analysis on PAM with elongation and torsion[C]//2011 International Conference on Mechatronic Science,Electric Engineering and Computer(MEC).Jilin,China.IEEE,2011: 613-616.

[16] Dong D, Li X N. Development of a novel parallel-spool pilot operated high-pressure solenoid valve with high flow rate and high speed[J]. Chinese Journal of Mechanical Engineering, 2015, 28(2):369-378.

[17] 黄建龙, 解广娟, 刘正伟. 基于Mooney-Rivlin模型和Yeoh模型的超弹性橡胶材料有限元分析[J]. 橡胶工业, 2008, 55(8):467-471.

[18] Huang J L, Xie G J, Liu Z W. FEA of hyperelastic rubber material based on Mooney-Rivlin model and Yeoh model[J]. China Rubber Industry, 2008, 55(8):467-471. (in Chinese)

[19] 郑明军, 王文静, 陈政南, 等. 橡胶Mooney-Rivlin模型力学性能常数的确定[J]. 橡胶工业, 2003, 50(8):462-465.

[20] Zheng M J, Wang W J, Chen Z N, et al. Determination for mechanical constants of rubber Mooney-Rivlin model[J]. China Rubber Industry, 2003, 50(8):462-465.(in Chinese)

[21] 董虎, 王保兴, 李巍, 等. 基于单向气动驱动器的软体手变形机理[J]. 东华大学学报(自然科学版), 2020, 46(2):288-296,303.

[22] Dong H, Wang B X, Li W, et al. The deformation mechanism of soft hand based on one-way pneumatic actuator[J]. Journal of Donghua University(Natural Science), 2020, 46(2): 288-296,303. (in Chinese)

[23] 王玲, 张驻军, 吴鑫, 等. 硬度耦合刚度增强型软体夹持器设计研究[J]. 机械设计, 2024, 41(2):22-31.

[24] Wang L, Zhang Z J, Wu X, et al. Design and research of soft holder with hardness coupling and stiffness enhancement[J]. Journal of Machine Design, 2024, 41(2):22-31.(in Chinese)

基金资助

辽宁省教育厅高等学校基本科研项目（面上项目）(JYTMS20230200)