一种基于蜂巢气动网络的软体夹持器抓取策略研究

doi:10.13973/j.cnki.robot.2016.0371

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王宁扬, 孙昊, 姜皓, 陈小平, 张昊翀. 一种基于蜂巢气动网络的软体夹持器抓取策略研究[J]. 机器人, 2016, 38(3): 371-377,384.DOI: 10.13973/j.cnki.robot.2016.0371. WANG Ningyang, SUN Hao, JIANG Hao, CHEN Xiaoping, ZHANG Haochong. On Grasp Strategy of Honeycomb PneuNets Soft Gripper. ROBOT, 2016, 38(3): 371-377,384. DOI: 10.13973/j.cnki.robot.2016.0371.

摘要提出一种新的基于蜂巢气动网络的软体夹持器，并进行抓取策略的研究．基于软体机器人具有无限自由度的特性，可以实现夹持器和物体表面极好的贴合．结合蜂巢气动网络的运动特性和抓取特性，针对每个备选抓取点进行抓取过程模拟，以确定其最终抓取形态．对于每个备选抓取点的最终抓取形态，提取出判定点进行相对形封闭性判定以确定可行解集合．对于每个可行解方案，通过计算适用于蜂巢气动网络的软体夹持器的评价函数以获取最优值，得到对应的最佳抓取方案．实验结果表明，该软体夹持器及其抓取策略大幅提高了对常见几何形状物体的抓取成功率．

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关键词 ：蜂巢气动网络, 软体机器人, 夹持器, 抓取

Abstract：A new Honeycomb PneuNets (HPN) soft gripper and its grasp strategy are proposed. The theoretical model of the soft gripper has infinite degrees of freedom, so it can fit the surface of the objects completely. In order to calculate the final grasp state, the grasp process is simulated at every selected grasp point according to the characteristics of motion and grasp. For every final grasp state, the decision point is taken to get the feasible solution set using the relative form closure theory. For each feasible solution, the evaluation function for the HPN soft gripper is calculated. Then the best solution is selected to get the best grasp plan. The experimental results show that the new soft gripper and its grasp strategy can greatly improve the grasp success rate on common geometrical objects.

Key words： Honeycomb PneuNets soft robot gripper grasp

收稿日期: 2016-01-05 录用日期: 2016-04-27

ZTFLH:

TP241

基金资助:国家自然科学基金（61573333）；教育部博士点基金（20133402110026）

通讯作者: 陈小平，xpchen@ustc.edu.cn E-mail: xpchen@ustc.edu.cn

作者简介: 王宁扬（1992–），男，硕士生．研究领域：软体机器人，服务机器人．
孙昊（1987–），男，博士生．研究领域：仿生学，服务机器人，运动规划．
姜皓（1990–），男，硕士生．研究领域：软体机器人．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0371 或 https://robot.sia.cn/CN/Y2016/V38/I3/371

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