Abstract:

In this study, a flexible mechanical finger was designed, and the mold of flexible mechanical finger was printed with a 3D printer, and a flexible mechanical finger was made from silica gel. The model parameters C₁₀ and C₂₀ of the strain energy density function of the silicone material were obtained by tensile test, and the three?dimensional model of the flexible mechanical finger was established by Solidworks, and the stress and strain of the flexible mechanical finger were analyzed by ABAQUS software at the pressure of -0.02 MPa to 0.05 MPa.The results showed that the maximum stress and strain values were -8.866 MPa and -0.564 at -0.02 MPa, and 2.981 MPa and 0.711 at 0.05 MPa, respectively. The maximum transverse displacement was 7.60 mm.

Key words: Flexible manipulator, Pneumatic mechanical finger, Multi?cavity, Silicone

摘要：

设计一种柔性机械手指，通过3D打印机打印了柔性机械手指模具，并以硅胶为原料制备了柔性机械手指；通过拉伸试验得到了硅胶材料的应变能密度函数的模型参数C₁₀和C₂₀，并用Solidworks软件建立柔性机械手指三维模型，用ABAQUS软件分析了该柔性机械手指在压力为－0.02～0.05 MPa时的应力与应变。结果表明，当压力为－0.02 MPa时，最大应力与最大应变分别为－8.866 MPa和－0.564；当压力为0.05 MPa时，最大应力与最大应变分别为2.981 MPa和0.711。建立柔性机械手指试验装置，获取了柔性机械手指在不同压力下的弯曲变形情况和手指末端的位移。结果表明，其横向最大位移为7.60 mm。

关键词: 柔性机械手, 气动机械手指, 多腔体, 硅胶