【摘要】 针对纯软体手爪与刚体材料耦合后自适应能力降低的问题，提出一种双气道球关节内骨骼软体手爪的技术方案。以人体手指外柔内刚的结构为灵感，将刚性骨骼内置于软体材料中；采用串联多球关节骨骼结构，以保证刚性骨骼的多自由度和软体手指的灵活性；每单根手指均为双气道设计，通过控制双气道的气压力实现单根手指不同的位姿，并在此基础上设计由4根软体手指构成的软体手爪。建立单个软体手指的关节弯曲变形理论模型，分析指尖位姿，得到手指关节齐次变换矩阵。制作双气道球关节内骨骼单个手指及软体手爪的试验样机，搭建试验平台，并进行试验研究。单个软体手指的试验结果表明：双气道同时供给50 kPa气压力时，软体手指可绕x轴弯曲180°;单气道供给60 kPa气压力时，软体手指可绕x轴弯曲93°以及绕z轴弯曲85°;双气道同时供给70 kPa压力时，单根手指能够输出约2 N的指尖压力。软体手爪的抓取试验结果表明：通过对不同单个手指指尖压力的实时采集及多手指模糊PID控制，可实现对软体手爪抓取姿态的实时控制，保证对异形件及易碎物品的柔性安全抓取，提高了软体手爪的自适应抓取能力。更多还原

【Abstract】 To address the problem of reduced adaptive ability of pure soft grippers after coupling with rigid materials, a technical solution of a dual-airway ball joint internal skeletal soft gripper was proposed.Inspired by the structure of human fingers that are soft on the outside and rigid on the inside, rigid bones were embedded in the soft material.A series of multi ball joint skeletal structures were adopted to ensure the multi-degree-of-freedom of the rigid bones and the flexibility of the soft fingers.Each single finger was designed as a dual-airway structure, and the different postures of a single finger could be achieved by controlling the air pressure of the dual-airway.Based on this, a soft gripper composed of four soft fingers was designed.The theoretical model of joint bending deformation of a single soft finger was established, and the fingertip posture was analyzed to obtain the homogeneous transformation matrix of the finger joint.A test prototype of a single finger of the dual-airway ball joint internal skeletal and the soft gripper was fabricated, a test platform was built, and experimental research was conducted.The test results of a single soft finger show that when 50 kPa air pressure is supplied to both dual-airway simultaneously, the soft finger can bend 180° around the x-axis, and when 60 kPa air pressure is supplied to a single-airway, the soft finger can bend 93° around the x-axis and 85° around the z-axis; when 70 kPa pressure is supplied to dual-airway simultaneously, the fingertip pressure output is approximately 2 N.The test results of the soft gripper′s grasping show that by real-time acquisition of fingertip pressure of different single fingers and multi-finger fuzzy PID control, real-time control of the soft gripper grasping posture can be achieved, ensuring the flexible and safe grasping of irregular parts and fragile items, and improving the adaptive grasping ability of the soft gripper.更多还原