软体机器手纤维增强式三腔体结构设计与分析

根据人手三指节结构，提出纤维增强式三腔体仿人软体机械手和新型布管方式.采用Neo Hookean模型建立了软体机械手单指的大变形数学模型，分析了软体机械手单指的形变特征，建立了弯曲模型和扭转模型.采用Ecoflex 00-50与Dragon skin 30 进行1∶1比例混合制作软体手指，并利用测试数据对理论模型进行了误差修正.结果表明，提出的新型软体手指结构的理论模型和实际测量数据一致，相对于其他结构，新型布管方式增加了整体的稳定性，得出的结论可为仿人软体机械手的发展提供理论支撑.

Design and Analysis of Fiber-Reinforced Three-Cavity Structure of Soft Robot Hands

Based on the three-knuckle structure of a human hand， a fiber-reinforced three-cavity human-like soft body manipulator and a new type of pipe-laying method were proposed. The mathematical model of large deformation of the soft manipulator with a single finger was established by using Neo Hookean model. The deformation characteristics of the single-finger of the soft manipulator were analyzed， and the bending model and the torsion model were established. A 1∶1 mixture of Ecoflex 00-50 and Dragon skin 30 was used to make soft fingers， and the error correction of the theoretical model was carried out with the test data. The results showed that the theoretical model of the proposed new soft finger structure is consistent with the actual measurement data. Compared with the other structures， the new pipe-laying method increases the overall stability， and the conclusions can provide theoretical support for the development of human-like soft body manipulators.