多條魚鰭型夾具之設計與力學行為分析

本文以魚鰭仿生結構作為夾爪設計形狀，將夾爪桿件設計為具斜角形式，使中間結構區域形成易變形區，上下兩端形成穩定的三角結構，夾取時能穩定地彎曲包覆物體，以及讓夾爪表面具孔洞結構，與物體接觸時有更大的摩擦性，藉此提升夾爪夾物能力。接著以有限元素分析軟體模擬夾爪與物體接觸行為，導入超彈性材料模型在幾何非線性條件下分析，在多種夾爪斜桿角度、爪表面凹洞結構覆蓋率的情況進行討論，並與 Leif Kniese魚鰭形狀夾爪比較，以分析結果證實改變之形狀能提升夾爪的變形量、表面摩擦力。並藉模擬夾爪夾取多種物體之方式，以破壞準則檢驗分析中應力，確保夾取過程中驅動機構無破壞行為。並藉夾取實驗分別測試夾物種類、夾持重覆性確認夾爪性能。文中以夾取棒球情況驗證有限元素模型，在分析中以不同驅動拉力模擬夾物，觀察物體夾物情形，藉由物體上之接觸面積變化，得出分析中最小拉力值，並與實驗中驅動機構所需最小拉力比較，探討分析與實驗不同拉力原因。

關鍵字

夾爪設計； 3D列印；超彈性材料；魚鰭效應；有限元素分析

並列摘要

In this paper, the Fin Ray® Effect structure is used as the design shape of the gripper. The intermediate structure transform into a easily deformable area, and the upper and lower ends are formed into a stable triangular structure, which can stably bend and cover the object when gripping the object. There are holes on the surface of the gripper, which has greater friction when contacting the object. This improves the gripping ability of the gripper. The finite element analysis software is used to simulate the contact behavior between the grippers and the object, and the hyper-elastic material model in the condition of geometric nonlinearity is introduced. In the different angles of the horizontal bars of the gripper and the surface holes of the gripper surface are discussed, and we will compare Leif Kniese's Fin Ray® Effect gripper to my gripper in this paper. The result confirms different shape that can improve deformation and surface friction force in the analysis. We simulate the grippers to take a variety of objects to check the stress in the analysis, and ensure that the drive mechanism is not broken during the clamping process.