绳驱单关节柔性手指的优化设计

为提高柔性手指的驱动性能，结合可3D打印成型的柔性材料与拉线驱动技术，设计单关节的绳驱动柔性手指结构。通过SolidWorks建模与ANSYS有限元仿真对比波纹状与锯齿状柔性手指外形结构的变形特性，对锯齿状柔性手指做了薄壁化设计，在薄壁结构的基础上引入单侧部分填充的空腔构型，分析不同填充比例对手指性能的影响。研究结果表明:优化后的、内部填充1/3的锯齿状柔性手指结构弯曲时所需绳索驱动力相对较小，同时可以保证内部应力分布均匀，能够在允许的变形范围内模拟手指的弯曲动作。

Design and Optimization of the Wirerope driven Single jointed Soft Finger

To improve its driving performance,a wirerope driven single jointed soft finger is constructed using 3D printed material and cable driven technology.3D structure of the soft finger is modelled with Solidworks,characteristics of its corrugated structure and jagged structure compared with ANSYS finite element analysis,and thin shell structure design is introduced.On this basis,partly filled hollow structure is formed to find out the performance of the soft fingers with different degrees of internal filling.The results indicate that the optimized jagged structure with 1/3 filler requires relatively low driven force while maintaining uniform distribution of stress and able to imitate the bending action of human fingers within its deformation range.