Design of magnetorheological damper and grasping force control research for variable stiffness bionic robotic hand
变刚度仿生机械手的磁流变阻尼器设计与抓取力控制研究

摘要

变刚度仿生机械手通过引入磁流变阻尼器实现抓取力的精准控制。分析了磁流变阻尼器在机械手中的集成方式及其对抓取性能的影响，探讨了变刚度设计对力控特性的优化作用。采用多维度优化方法提升结构与控制系统的协同性能，并通过实验验证其在不同任务场景下的适用性与稳定性。研究表明，该技术可显著增强机械手对复杂环境的适应能力，为柔性抓取提供新的实现路径。

Abstract

The variable stiffness bionic robotic hand achieves precise control of grasping force through the integration of a magnetorheological damper. This study analyzes the integration methods of the damper within the robotic system and its impact on grasping performance, while exploring how variable stiffness design optimizes force control characteristics. A multi-dimensional optimization approach is employed to enhance the coordination between structural and control systems, with experimental validation conducted across various task scenarios to assess applicability and stability. Research findings indicate that this technology significantly improves the robotic hand's adaptability to complex environments, offering a new approach for flexible grasping.