多腔体柔性机械手指设计与弯曲变形研究

Multi⁃Cavity Flexible Mechanical Finger Design and Bending Deformation Study

高磊 迟德霞 孙润富 潘学睿

Lei GAO Dexia CHI Runfu SUN Xuerui PAN

辽宁石油化工大学 机械工程学院，辽宁 抚顺 113001

College of Mechanical Engineering，Liaoning Petrochemical University，Fushun Liaoning 113001，China

设计一种柔性机械手指，通过3D打印机打印了柔性机械手指模具，并以硅胶为原料制备了柔性机械手指；通过拉伸试验得到了硅胶材料的应变能密度函数的模型参数C10和C20，并用Solidworks软件建立柔性机械手指三维模型，用ABAQUS软件分析了该柔性机械手指在压力为－0.02～0.05 MPa时的应力与应变。结果表明，当压力为－0.02 MPa时，最大应力与最大应变分别为－8.866 MPa和－0.564；当压力为0.05 MPa时，最大应力与最大应变分别为2.981 MPa和0.711。建立柔性机械手指试验装置，获取了柔性机械手指在不同压力下的弯曲变形情况和手指末端的位移。结果表明，其横向最大位移为7.60 mm。

In this study, a flexible mechanical finger was designed, and the mold of flexible mechanical finger was printed with a 3D printer, and a flexible mechanical finger was made from silica gel. The model parameters C10 and C20 of the strain energy density function of the silicone material were obtained by tensile test, and the three?dimensional model of the flexible mechanical finger was established by Solidworks, and the stress and strain of the flexible mechanical finger were analyzed by ABAQUS software at the pressure of -0.02 MPa to 0.05 MPa.The results showed that the maximum stress and strain values were -8.866 MPa and -0.564 at -0.02 MPa, and 2.981 MPa and 0.711 at 0.05 MPa, respectively. The maximum transverse displacement was 7.60 mm.

辽宁省教育厅高校基本科研项目(202210148037)

10.12422/j.issn.1672-6952.2023.05.011