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

doi:10.3785/j.issn.1008-973X.2023.12.003

Journal of ZheJiang University (Engineering Science)

2023, Vol. 57

Issue (12): 2367-2374 DOI: 10.3785/j.issn.1008-973X.2023.12.003

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

Tian-lei WANG1,2(

),Li-hang FENG1,Zhen-xing SUN1,Yun KE2,Chao-chao LI2,Ji-wei HU2

1. College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, China
2. Changxing Huaqiang Electronics Limited Company, Huzhou 313119, China

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Abstract

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.

Key words： soft robotic hand adaptive gripping nonlinear optimization gesture optimization geometric modeling

Received: 29 March 2023 Published: 27 December 2023

CLC:

TP 241

Fund: 国家自然科学基金资助项目（52201398）；江苏省自然科学基金资助项目（BK20220343）

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	Tian-lei WANG
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Cite this article:

Tian-lei WANG,Li-hang FENG,Zhen-xing SUN,Yun KE,Chao-chao LI,Ji-wei HU. Comprehensive optimization of gripping gesture and force of soft-rigid robotic hand. Journal of ZheJiang University (Engineering Science), 2023, 57(12): 2367-2374.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2023.12.003 OR https://www.zjujournals.com/eng/Y2023/V57/I12/2367

刚柔耦合机械手的抓握姿态和力综合优化方法

针对刚柔耦合机械手在抓握物体时既要有合适的抓握姿态，又要有与抓握力匹配的手指刚度的问题，研究抓握姿态和力综合优化方法. 建立机械手的几何模型以获得手指刚度与驱动压强的关系，基于所建模型构造手指姿态曲线与被抓握物体轮廓曲线的贴合度函数、与期望抓握力有关的手指期望刚度函数，并结合姿态贴合度函数和手指刚度函数构造综合优化目标函数. 利用所建目标函数计算不同期望抓握力下的最优抓握姿态，通过实验对比不同最优姿态下施加额外抓握力对抓握稳定性的影响. 实验结果表明，所提综合优化方法能够良好兼顾抓握姿态和抓握力的控制要求，实现刚柔耦合机械手的稳定可靠抓握.

关键词： 柔性机械手, 自适应抓握, 非线性优化, 姿态优化, 几何建模

Fig.1 Structure of soft-rigid robotic hand

Fig.2 Single finger geometry model in bending plane

Fig.3 Rigidity test of soft finger

Fig.4 Flow chart of comprehensive optimization algorithm of gripping gesture and force

Fig.5 Test object structures in grasping experiment

Tab.1 Static geometry parameters of robotic hand

Fig.6 Optimized gesture of robotic hand with different expected forces

Tab.2 Simulation results of optimal gestures for robotic hand

Fig.7 Grasping experiment results of robotic hand


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