用液压驱动设计可抓重物的软机械手，解决传统气动抓手力不足问题
Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object
- 基于数学模型确定液压驱动参数，实现压力与抓握力匹配
- 成功抓取20公斤、直径20-30厘米物体，实现角度闭环控制
- 结合有限元分析选材，适合大件重物抓取场景
本文提出一种液压驱动软体机械手的设计方法，用于抓取重量约10-20 kg、直径20-30 cm的大而重物体。现有软体夹持器多采用气动驱动，工作压力约几百kPa，难以提供足够抓握力。相比之下，液压驱动可在数MPa压力下产生更大驱动力。本研究开发了一种液压驱动软体夹持器，其基础设计参数通过数学模型确定，该模型描述了驱动压力、弯曲角度、物体质量与抓握力之间的关系。同时，基于详细设计的有限元分析结果，选定了适用于抓取较重物体的材料。实验验证了对20 kg物体的抓取能力，并实现了手指弯曲角度的闭环控制。
原文摘要 · Abstract (English)
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle.
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