Comprehensive optimization of gripping gesture and force of soft-rigid robotic hand

被引：0
|
作者：
Wang T.-L. [1 ,2 ]
Feng L.-H. [1 ]
Sun Z.-X. [1 ]
Ke Y. [2 ]
Li C.-C. [2 ]
Hu J.-W. [2 ]
机构：
[1] College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing
[2] Changxing Huaqiang Electronics Limited Company, Huzhou
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2023年 / 57卷 / 12期
关键词：
adaptive gripping; geometric modeling; gesture optimization; nonlinear optimization; soft robotic hand;
D O I：
10.3785/j.issn.1008-973X.2023.12.003
中图分类号：
学科分类号：
摘要：
Aiming at the problem that a soft-rigid robotic hand not only needs appropriate gripping gesture when grasping objects, but also needs appropriate finger stiffness to match up with the gripping force, a comprehensive gripping gesture and force optimization method was investigated. The geometry model of the robotic hand was established, and the relationship between the soft finger rigidity and the actuation pressure was acquired. Based on the established models, the similarity function of the finger gesture curve and the object counter curve, and the expected finger rigidity function related to the expected gripping force were both established. The comprehensive optimization objective function was synthesized by combining the gesture similarity function and the finger rigidity function. The optimal gripping gestures were calculated under different expected forces using the established objective function. A gripping experiment was conducted on different optimal gestures with different external gripping forces, and the influence of the extra gripping forces on the gesture stability was evaluated. Experimental results show that the proposed comprehensive optimization method acquires both proper gesture and force according to different control requirements, and stable and reliable gripping performance of the robotic hand is achieved. © 2023 Zhejiang University. All rights reserved.
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页码：2367 / 2374
页数：7
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