用刚性单元法优化软体夹爪，实现对番茄等易损物的精准抓握力控制。
Optimal Design and Analytical Modeling of a Soft Fin-Ray Effect Gripper Finger Using the Finite Rigid Elements Method
- 采用有限刚性单元法建模，兼顾精度与计算效率。
- 最优结构参数：30mm长、10mm肋间距、7根-15度倾角肋条，误差仅2%-3%。
- 适合农业采摘机器人等需柔顺抓取的场景，为力控系统提供可靠模型基础。
仿鳍状射线的软体夹爪为温和处理脆弱、不规则物体（如番茄）提供了有前景的解决方案。本研究旨在设计、制造并建模一种基于鳍状射线效应（FRE）的软体夹爪手指，以实现未来应用中的精确力控。针对软体机器人固有的非线性行为、无穷自由度及材料属性变化等挑战，采用有限刚性单元法（FREM）进行建模，该方法在保持解析精度的同时，为后续力控制器开发提供可靠基础。使用ANSYS建立了详细的有限元模型，并通过仿真与实验验证了分析结果。基于指尖位移、总变形量、应力分布和接触力四项关键指标对夹爪手指进行了优化，最终确定最优结构：长度30 mm，肋间距10 mm，7根倾角-15°的肋条，肋厚1 mm。FREM理论模型预测变形误差为3%，ANSYS数值模型误差达2%。
原文摘要 · Abstract (English)
Fin Ray-inspired soft grippers offer a promising solution for gently handling delicate, irregular objects, especially in agriculture. The objective of this research is to design, fabricate, and model a Fin Ray Effect (FRE) soft gripper finger to enable precise force control in future applications. This design aims to gently grasp delicate agricultural products, such as tomatoes, that require both adaptability and accurate force application. To address the inherent challenges of soft robotics, including nonlinear behavior, infinite degrees of freedom, and variable material properties, the Finite Rigid Elements Method (FREM) was employed for modeling. This method preserves analytical accuracy while providing a reliable foundation for the development of a force controller in later stages. A detailed Finite Element Model (FEM) was created using ANSYS, and the analytical results were validated through simulation and experimental testing. The gripper's fingers were optimized based on four key criteria: tip displacement, total deflection, stress distribution, and contact force. The optimal finger configuration includes a length of 30 mm, rib spacing of 10 mm, seven ribs angled at -15 deg, and a rib thickness of 1 mm. Theoretical modeling using the FREM predicted finger deformation with a 3% error, while the ANSYS numerical model achieved 2% error.
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