气动软体采摘机械手设计及实验研究
李三平,孙腾佳,袁龙强,吴立国

Design and experimental research of pneumatic soft picking manipulator
San-ping LI,Teng-jia SUN,Long-qiang YUAN,Li-guo WU
表2 4种软体手指的应变层结构参数 (mm)
Table 2 Structural parameters of strain layer of four kinds of soft fingers
参数数值参数数值
a13a33
b13b39
l1113c312
m117d318
r113e33
r126f36
r139l3113
a23m311
b23r316
c26r329
d212a43
e218b49
f23l4113
g26m411
h29r413
l2113r426
m217r439