摘要
气动软体手爪作为软体机械手的执行单元,目前多为中空结构,主要由硅胶、凝胶、软聚合物等易变形、高弹性的材料构成。气动软体手爪的制造工艺通常采用分层制造的方法,需要粘接成型,容易产生粘接缺陷,从而影响强度、气密性、寿命等。传统的失蜡制造工艺虽然可以使气动软体手爪一体成型,但仍有因液体硅胶流动性差而出现蜡芯偏转与倾斜的问题。本工艺研究依据扩散理论,发现在铸造过程中硅胶的固液界面会发生互相渗透互溶的现象,因此采用失蜡法加多步浇注的方式,既能使复杂的制造工艺得到简化,降低模具的设计难度,又避免粘接,提高了气动软体手爪的密封性。设计了一种多腔体气动网格式软体手爪,并优化了模具。对软体手爪的弯曲变形进行仿真分析并进行试验,验证了制造工艺的可行性。
A pneumatic soft-bodied gripper,as the executive unit of soft-bodied manipulators,is currently mostly a hollow structure,mainly composed of easily deformable and highly elastic materials such as silicone,gel,and soft polymer.The manufacturing process of pneumatic soft-bodied gripper usually adopts a layered manufacturing method which needs adhesive forming,which is prone to produce adhesive defects,thus affecting strength,air tightness,life and so on.Although the traditional lost-wax casting technology can make the pneumatic soft-bodied gripper integrated,it still has the problems of wax core deflection and tilt due to the poor fluidity of liquid silicone.Based on the diffusion theory,it is found that the solid-liquid interface of silicone would permeate and dissolve each other in the casting process.Therefore,the method of lost-wax and multi-step pouring was adopted,which can not only simplify the complex manufacturing process and reduce the difficulty in mold design but also avoid adhesion and increase the tightness of the pneumatic soft-bodied gripper.In this research,a multi-cavity pneumatic mesh soft-bodied gripper was designed and the mold was optimized.The bending deformation of the soft gripper was simulated and experimented to verify the feasibility of the manufacturing process.
作者
张兴隆
冯杨倩
华超
孙逸飞
陈昕
ZHANG Xing-long;FENG Yang-qian;HUA Chao;SUN Yi-fei;CHEN Xin(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)
出处
《林业机械与木工设备》
2021年第7期46-51,共6页
Forestry Machinery & Woodworking Equipment
基金
江苏省高等学校自然科学研究项目(18KJA4600050)
江苏省“六大人才高峰”高层次人才项目(GDZB-024)
南京林业大学大学生创新创业训练计划项目“软体康复手套”(2020NFUSPITP0124)。
关键词
气动软体手爪
扩散理论
失蜡铸造
多步浇注
仿真试验
pneumatic soft-bodied gripper
the diffusion theory
lost-wax casting
multi-step pouring
simulation experiment
