NGHIÊN CỨU MÔ PHỎNG ĐỘNG LỰC HỌC QUÁ TRÌNH GẮP CỦA TAY GẮP MỀM RÔ BỐT

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Tác giả: Hải Long Lê, Anh Tuấn Nguyễn, Trấn Hưng Nguyễn, Văn Bình Phùng, Anh Vàng Trần

Ngôn ngữ: vie

Ký hiệu phân loại:

Thông tin xuất bản: Journal of Science and Technique, 2022

Mô tả vật lý: tr.54-69

Bộ sưu tập: Metadata

ID: 333090

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Bài báo trình bày phương pháp mô phỏng động lực học quá trình gắp-giữ vật của cụm tay gắp mềm rô bốt được chế tạo bằng vật liệu silicon. Các ngón mềm được cấu tạo bởi các khoang rỗng thông nhau và được kích hoạt bằng khí nén. Mỗi ngón tay mềm được mô hình hóa bởi chuỗi các khâu thẳng nối với nhau theo cách tiếp cận động lực học hệ nhiều vật. Thông số động lực học của hệ được xác định nhờ thực nghiệm số trên phần mềm Abaqus/CAE. Mô hình động lực học của cụm tay gắp tích hợp trên tay máy được xây dựng trên phần mềm MSC Adams. Tương tác giữa tay mềm với vật được mô phỏng theo lý thuyết tiếp xúc Hertz. Mô hình được xây dựng cho phép khảo sát khả năng gắp-giữ vật có hình dạng, khối lượng khác nhau với các quy luật chuyển động khác nhau một cách thuận lợi. Mô phỏng cho thấy, cụm tay gắp mềm có thể giữ vật hình cầu và vật thể hình trụ cùng khối lượng 300 g ở mức gia tốc tối đa tương ứng là 9,9 m/s2 và 3,6 m/s2. Kết quả nghiên cứu là cơ sở để hoàn thiện phương án thiết kế, chế tạo cụm tay gắp mềm cho rô bốt.This article presents a method to simulate the dynamics of the grasping process of a soft robotic gripper that is made of silicon. The pneumatically actuated soft fingers are composed of interconnecting hollow chambers. Each soft finger is modeled as a series of line-segment links using a multibody dynamics approach. Numerical simulations using Abaqus/CAE software are used to determine the system's dynamic parameters. The soft gripper’s model is then integrated into the robotic manipulators that are built on MSC Adams software. The interaction between soft grippers and objects is modeled according to the Hertz contact theory. The proposed model allows for the investigation of soft gripper gripping capacity with various types of objects and different moving velocities and accelerations. The simulation shows that the soft gripper can hold a spherical object and a cylindrical object with the same mass of 300 g at a maximum acceleration of 9.9 m/s2 and 3.6 m/s2 respectively. The results of the study are being used to improve the design of the robot's soft gripper.

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