纤维增强型软体夹持器变形及末端接触力

针对目前软体机器人缺乏变形和接触力方面理论研究的问题，以软体夹持器为研究对象，开展了纤维增强型软体夹持器变形及末端接触力的研究。首先设计了气动软体夹持器，该夹持器由纤维增强型单向弯曲驱动器、接触气囊以及单元的连接装置组成；其次基于Yeoh模型、Neo-Hookean模型分别建立了弯曲驱动器驱动压强与弯曲变形圆心角的非线性数学模型和弯曲驱动器末端接触力理论模型；然后开展了软体夹持器变形和末端接触力的仿真及实验，结果证明了理论模型的正确性；最后进行了纤维增强结构对软体夹持器变形和末端接触力影响的研究，实验结果表明:纤维增强结构能大幅度提高软体夹持器的变形和末端接触力。上述研究为其他纤维增强型软体夹持器变形及末端接触力的研究提供了理论基础。 

Deformation and end contact force of fiber-reinforced soft gripper

In order to solve the problem of lacking the research on the deformation and end contact force of soft robotics, a soft gripper is taken as the research object, and the research on the deformation and end contact force of fiber-reinforced soft gripper is carried out. Firstly, a soft pneumatic gripper is designed, which is composed of a unidirectional bending drive with a fiber-reinforced structure, an axially elongated contact airbag and a unitary connecting device. Secondly, a nonlinear mathematical model of curved center angle of a soft drive actuated by specific pressure is established, which is based on the Yeoh model. Based on the Neo-Hookean model, the theoretical model of the end contact force of the bending actuator is established. Then, a finite element simulation and experimental validation of the soft gripper are carried out to verify the correctness of the theoretical model. Finally, the study on the effect of fiber-reinforced structure on the deformation and end contact force of gripper is carried out. Experimental results show that fiber-reinforced structure can improve the deformation and end contact force of the soft gripper greatly. This research provides a theoretical basis for the research on the deformation and end contact force of other fiber-reinforced soft grippers.