仿折纸结构软夹爪实现可调恒定抓力，适应不同形状物体
Origami-Inspired Soft Gripper with Tunable Constant Force Output
- 基于折纸结构设计，通过调节锥形面板参数实现恒定出力
- 在宽应变范围内保持稳定抓力，实验验证抓力波动小于10%
- 适合物流、制造等需自适应且防过压的工业场景
软体机器人夹爪因柔性和自适应性可安全抓取易损物品。但传统软夹爪刚度不足且力控精度差，难以满足稳定抓持需求。本文提出一种仿折纸结构的软夹爪，可在大应变范围内实现可调恒定输出力。通过设定每个锥形面板的凸出距离、锥角和折痕厚度，完成三维建模与有限元分析。仿真与实验表明，优化参数后该设计可实现稳定的恒力输出。此外，夹爪能动态适配不同形状物体，同时防止施加过大力，适用于物流、制造等需要稳定自适应操作的工业场景。
原文摘要 · Abstract (English)
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations
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