AI 中文总结
研究受限于笨重流体硬件等的液压软手指，提出由微型循环蠕动回路驱动的紧凑型3D打印软液压手指，用Abaqus流固模型指导设计，经多种验证，能在大弯曲范围可重复跟踪角度，抓取测试表现良好，建立了可重复流程。
AI 中文摘要
液压软手指具有柔顺且温和的操作性能，但其实际应用受到笨重的流体硬件、制造复杂性和设计验证不足的限制。本文提出了一种由微型循环蠕动回路驱动的紧凑型3D打印软液压手指。该手指集成了柔顺波纹管、刚性连接器和流体端口，同时使用Abaqus流固模型指导壁厚、螺距角和波纹管长度的选择。所选设计通过基线校正腔室压力测量和基于视觉的角度跟踪进行验证。结果表明，准静态有限元模型捕捉到了主要压力-角度趋势，剩余偏差主要归因于粘结引起的刚度和液压损失。视觉反馈控制进一步实现了在大弯曲范围内的可重复角度跟踪。最后，对包括豆腐和蓝莓在内的易碎和可变形物体的抓取测试表明，接触轻柔、无滑动且无明显损坏。总体而言，这项工作建立了一条从有限元分析指导设计到紧凑型3D打印液压软手指闭环验证的可重复流程。
英文摘要
Hydraulic soft fingers offer compliant and gentle manipulation, but their practical deployment is limited by bulky fluidic hardware, fabrication complexity, and insufficient design validation. This paper presents a compact 3D-printed soft hydraulic finger driven by a miniature cyclic peristaltic loop. The finger integrates compliant bellows, rigid connectors, and fluidic ports, while an Abaqus fluid-structure model is used to guide selection of wall thickness, pitch angle, and bellows length. The selected design is validated through baseline-corrected chamber-pressure measurements and vision-based angle tracking. Results show that the quasi-static finite-element model captures the main pressure-angle trends, with remaining offsets mainly attributed to bonding-induced stiffness and hydraulic losses. Vision-feedback control further enables repeatable angle tracking over a large bending range. Finally, grasping tests on fragile and deformable objects, including tofu and blueberries, demonstrate gentle, slip-free contact without visible damage. Overall, this work establishes a reproducible pipeline from FEA-guided design to closed-loop validation for compact 3D-printed hydraulic soft fingers.
Comments6 pages, 5 figures, The 31st International Conference on Automation and Computing
