2023年9月第54卷第9期农报业学机械doi:10.6041/j.issn.1000-1298.2023.09.007光固化果蔬采摘气动软体抓手设计与试验庄煜王海涛王金峰沈柳杨王震涛(东北农业大学工程学院,哈尔滨150030)摘要:针对目前软体抓手的制造方式(如软体平板印刷、失蜡铸造等)存在成型工艺复杂、粘结不牢靠、接缝处易撕裂等问题,设计了一种光固化成型软体采摘抓手一体式结构,通过正、负压驱动,可实现果蔬的自适应抓取。首先,基于Yeoh模型,研究了软体驱动器弯曲变形运动中的非线性力学特性,得出腔体内部压强与驱动器弯曲角度之间的非线性关系模型。然后,通过Abaqus有限元软件分析软体驱动器的弯曲特性,得到各主要结构参数对弯曲角度的影响规律,并结合正交试验法得到最佳的结构参数组合:软体驱动器的腔体壁厚为1.6mm、腔体个数7、腔体间隙3mm、底层厚度3mm。最后,根据最佳的结构参数组合制造软体采摘抓手样机,并将其安装在试验平台上进行果蔬抓取试验,验证了光固化一体成型软体采摘抓手的实用性。关键词:光固化;果蔬采摘;软体抓手;有限元仿真中图分类号:TP241.3文献标识码:A文章编号:1000-1298(2023)09-0065-09OSID:DesignandExperimentofPneumaticSoftClawforSLAFruitandVegetablePickingZHUANGYuWANGHaitaoWANGJinfengSHENLiuyangWANGZhentao(CollegeofEngineering,NortheastAgriculturalUniversity,Harbin150030,China)Abstract:Inviewoftheproblemsinthecurrentmanufacturingmethodsofsoftclaws(suchassoftoffsetprinting,lostwaxcasting,etc.),suchascomplexformingprocess,unstableadhesion,easytearingandsoon.Stereolithographyapparatus(SLA)softpickingclawintegratedstructurewasdesigned,whichcouldrealizetheadaptivegraspingoffruitsandvegetablesbypositiveandnegativepressuredrive.Firstly,basedontheYeohmodel,thenonlinearmechanicalpropertiesofthebendingdeformationmotionofthesoftfingerwerestudied,andthenonlinearrelationshipmodelbetweentheinternalpressureofthecavityandthebendingangleofthefingerwasobtained.Then,thebendingcharacteristicsofthesoftfingerwereanalyzedbyusingAbaqusfiniteelementsoftware,andtheinfluencelawofthemainstructuralparametersonthebendinganglewasobtained.Andcombinedwiththeorthogonalexperimentalmethod,theoptimumcombinationofthestructuralparameterswasobtainedasfollows:the...