多腔体柔性机械手指弯曲变形分析与试验

Analysis and Experiment of Bending Deformation of Multi-Cavity Flexible Mechanical Finger

摘要: 文章设计了一种柔性机械手指，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 ，建立了柔性机械手指弯曲变形模型；建立柔性机械手指弯曲变形试验装置，开展了柔性机械手指在不同压力下的弯曲变形和手指末端的位移、输出力试验。结果表明：柔性机械手指水平方向的位移为−3.3~7.6 cm，垂直方向位移范围为0~11.4 cm；柔性机械手指输出力为0~0.58 N。

Abstract: The study designed a flexible mechanical finger, printed the mold of flexible mechanical finger by 3D printer, and prepared the flexible mechanical finger was by silica gel as raw material. The model parameters C₁₀ and C₂₀ of the strain energy density function of the silica gel material were ob-tained by tensile experiment, and the flexural deformation model of the flexible mechanical finger was established. By establishing the flexible mechanical finger bending deformation experimental device, the bending deformation of the flexible mechanical finger under different pressures, the displacement and output force experiments of the finger end were carried out. The results show that the horizontal displacement of the flexible mechanical finger ranges from −3.3 to 7.6 cm, the vertical displacement ranges from 0 to 11.4 cm, and the output force of the flexible mechanical fin-ger is 0~0.58 N.