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An effective nonlinear dynamic formulation to analyze grasping capability of soft pneumatic robotic gripper

International Journal of Smart and Nano Materials 2024年第3期15卷 405-431页

作者： Qiping Xu Chenhang Ying Kehang Zhang Huiyu Xie Shiju E Department of Robotics Engineering Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology&Equipment of Zhejiang ProvinceCollege of EngineeringZhejiang Normal UniversityJinhuaP.R.China

Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff *** simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation *** address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft ***,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact *** proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.

关键词： Nonlinear dynamic formulation soft pneumatic robotic grippers contact interaction grasping capability configuration variations

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