Structural Design and Fabrication of Light-curing 3D Printing Soft Gripper

覃兴蒙; 郭林峻; 张衡; 常博

doi:10.13433/j.cnki.1003-8728.20230162

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Structural Design and Fabrication of Light-curing 3D Printing Soft Gripper

更新时间：2026-07-10

- Structural Design and Fabrication of Light-curing 3D Printing Soft Gripper
- Mechanical Science and Technology for Aerospace Engineering Vol. 43, Issue 12, Pages: 2096-2104(2024)
- 作者机构：
  
  陕西科技大学机构机电工程学院,西安,710021
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230162
  CLC：
- Published：2024
- 稿件说明：
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覃兴蒙, 郭林峻, 张衡, et al. Structural Design and Fabrication of Light-curing 3D Printing Soft Gripper[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(12): 2096-2104.
DOI：

覃兴蒙, 郭林峻, 张衡, et al. Structural Design and Fabrication of Light-curing 3D Printing Soft Gripper[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(12): 2096-2104. DOI： 10.13433/j.cnki.1003-8728.20230162.

摘要

针对传统刚性机械手结构复杂、控制难度高，适应能力差等不足，设计并制备了一种结构简单、控制方便、适应能力强的可变抓取范围的气动软体夹持手，该夹持手采用柔性光敏树脂为制造材料，通过光固化3D打印制作而成。对该夹持手的手指进行弯曲理论分析以及对腔体截面宽度、腔体截面高度，腔体壁厚进行有限元分析，并将试验与仿真结果进行对比。结果表明软体夹持手手指的腔体截面宽度越宽、腔体截面高度越高、腔体壁厚越薄则其弯曲角度越大，试验与仿真结果趋势基本一致。制成的软体夹持手可以对不同形状和尺寸的物体进行有效抓取，试验结果表明该软体夹持手具有良好的抓取效果和适应能力。

Abstract

Aiming at the shortcomings of the traditional rigid manipulator with complex structure

high control difficulty and poor adaptability

a pneumatic software gripper with simple structure

convenient control and strong adaptability with variable grasping range was designed and prepared. Flexible photosensitive resin is a manufacturing material

which is made by light-curing 3D printing. The bending theory of the fingers of the gripping hand and the finite element analysis of the width of the cavity section

the height of the cavity section

and the wall thickness of the cavity are carried out

and the experimental and simulation results are compared. The wider the width of the body section

the higher the height of the cavity section

and the thinner the cavity wall thickness

the larger the bending angle

and the trend of the experimental and simulation results is basically the same. The fabricated soft gripping hand can effectively grasp objects of different shapes and sizes

and the test results show that the soft gripping hand has good gripping effect and adaptability.

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