关键词: 软体抓取器, 软体驱动器, 磁铁片, 抓取模式, 有限元仿真

Abstract: As the research of soft gripper continues, increasing its load-bearing capacity has been a pressing problem to be solved. A simple and practical scheme is proposed, i.e., a magnet sheet is embedded at the fingertips of the soft drive to increase the grasping force by the magnetic force between the fingertips of the grasper. Firstly, the structural design of the soft body gripper and its fabrication method are introduced, and then the mechanical modeling of the gripping is carried out, especially the detailed analysis of the modeling of the tension force when the fingertips are attached, and the magnitude of the theoretical bearing force is obtained. Then the finite element simulation of the gripper model was carried out, and the relationship between the size of air pressure and the bearing capacity was analyzed. Finally, the results of the theoretical modeling and the FEM simulation were compared, and the load carrying capacity of both of them increased by 20.72 N and 16.34 N respectively compared with the gripper without magnetic sheet embedding, which can show that the solution is feasible, and it also provides a new design idea for the development of a soft gripper with high load.