柔性夾爪的研發與應用迅速發展，市場上的夾爪的需求越來越高，有別於傳統剛體夾爪設計，柔性夾爪的運動形式更具彈性，且較不易破壞周遭的物體。加上目前的市場上的柔性夾爪的設計大都不具備變構性，為了使柔性夾爪能做出更多動作，以調整抓取姿態或適應物體形貌，本文提出了一種複合材料製成的可變構式柔性夾爪。
可變構式氣動柔性夾爪以矽膠作為柔性主體，以氣動方式彎曲柔性手指，並在柔性結構體外包覆TPU材質的外骨骼，並參考人類的手指將夾爪劃分為三個指節，使用三個步進馬達帶動三條PE線的拉線方式來改變外骨骼的姿態進而達成夾爪的控制。當各馬達分別帶動不同的PE線時，會以相對應的方式改變柔性手指的剛性分佈，達成不同形式的彎曲變形。
使用本研究提出的可變構式氣動柔性夾爪進行了一系列的標準化實驗，量測不同氣壓在各種變構方式下的角度變化與壓力變化，進行三種截面物體的夾取實驗，透過量測臨界夾持力與搭配感測器進行訊號分析的方法找出各物體的最穩定夾取模式，實驗結果發現本變構柔性夾爪能夠適應圓形及多邊型等不同形狀物體的抓取，由於柔性手指彎曲的形狀更接近物體的外型，接觸面積較一般柔性夾爪大，故抓取的穩定性更佳。

The application of soft grippers is developing rapidly nowaday. The soft gripper is elastic and guarantees the safety of its surroundings in comparison to traditional rigid grippers. The commercial soft grippers have no ability to adjust its mechanism. This research proposes soft grippers with a new mechanism made by composite material that provides the ability to adjust the gripper to grip different shapes of objects.
The pneumatic soft gripper with adjustable mechanism contains a silicon flexible body with TPU covered as its exoskeleton. This research takes human fingers as reference and develops a three-knuckles gripper. This gripper is actuated by three step motors with PE wired connected to the gripper mechanism. The silicon soft finger can perform different formations with the control of the motors and pneumatic.
This research proposes standardized experiments to evaluate the pressure in the pneumatic gripper at different angles when gripping the experimental object. Moreover, the most stable mechanism for different shapes of objects is tested. In conclusion, the pneumatic soft gripper we proposed has the ability to grip circular and polygon objects and create a larger contact area for the gripper and the gripping object than traditional soft gripper, resulting in a stable gripping.

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