Abstract: Grasping is a fundamental way that creatures interact with their environments and is also a key field of interest in soft robotics. Pneumatic network actuators are particularly promising candidates for the soft robotics community. However, most soft pneumatic grippers based on pneumatic network actuators can only realize a single grasping mode, with poor adaptability and dexterity in grasping objects. Therefore, a new misaligned parallelchamber soft pneumatic actuator was presented, which mainly consists of soft chambers embedded in an elastomer structure. Then, theoretical models describing the bending deformation and three-dimensional trajectory curve of the proposed actuator were developed using the segmental constant curvature assumption and incorporating the Yeoh model. In addition, finite element simulations of the bending deformation were performed and verified experimentally. Finally, three soft grippers with different gripping modes, namely, winding, enveloping, and pinching, were designed, and gripping experiments were conducted. The results show that the designed soft gripper demonstrates good adaptability and flexibility to the target object, expanding the application range of pneumatic soft grippers in the field of picking objects. The proposed soft actuator provides a potential method for the design of a multifunctional soft gripper.

Key words: pneumatic network actuator, soft gripper, multiple gripping modes, modular design, finite element simulation, Yeoh model

摘要： 抓握是生物与环境互动的一种基本方式，也是软机器人技术的一个重要兴趣领域。气动网络执行器在软机器人领域尤其具有发展前景。然而，大多数基于气动网络执行器的软气动抓手只能实现单一的抓取模式，抓取物体的适应性和灵巧性较差。因此，我们提出了一种新型错位平行腔软气动致动器，它主要由嵌入弹性体结构中的软腔组成。然后，利用分段恒定曲率假设并结合 Yeoh 模型，建立了描述拟议致动器弯曲变形和三维轨迹曲线的理论模型。此外，还对弯曲变形进行了有限元模拟，并通过实验进行了验证。最后，设计了三种不同抓取模式的软抓手，即缠绕、包络和捏合，并进行了抓取实验。结果表明：所设计的软抓手对目标物体具有良好的适应性和灵活性，拓展了气动软抓手在拾取物体领域的应用范围。所提出的软执行器为多功能软抓手的设计提供了一种潜在的方法。

关键词: 气动网络执行器，软夹持器，多模式抓取，模块化设计，有限元模拟，Yeoh模型