使用压缩空气作为驱动力进行物品夹持和搬送具有柔顺安全、维护方便等优点。然而，现行气压夹持方法对夹持物的材质、形状和重量有严格的限制，不能适应多品种和规格的物品。本课题针对混流生产物品搬送和柔顺夹持的需求，提出软体适形柔顺夹持方法，以气压驱动的软体结构增大夹持装置与物体的接触面积来适应物体的形状，并集成负压发生设备于柔顺夹持装置中来大幅提高柔顺夹持装置的负载能力。通过对软体生物变形机理的研究，研究形状适应的软体夹持原理和实现方法，提出高密度弹性材料多腔室软体和负压吸着口盘相结合的结构形式，并研究气体与软体型腔间相互作用关系、软体与夹持物的耦合规律，根据试验结果进行修正并建立软体夹持器静态特性和夹持物多维耦合理论模型；设计以拉瓦尔喷管为核心元件的负压发生装置和负压吸着口盘，研究负压吸着力的影响因素并制订负压加载夹持力增强技术方案。课题研究可望为软体适形柔顺夹持的实现奠定理论和技术基础。

Applying pneumatic power for holding and conveying work-pieces has technical advantages such as flexibility, safety, convenient maintenance. However, the existing pneumatic negative pressure adsorption devices or pneumatic grippers are designed for specific work-pieces, where the material and shape of the workpiece is limited to a small scale. In order to meet the requirements of flexible and stable clamp operation in multi-workpieces manufacturing, by combining the positive pressure drive and negative pressure adsorption technology, the proposal proposes a soft body shape adaptive clamp method to enlarge the contact area in order to adapt to the shape of the workpiece. Meanwhile, the vacuum generator is added in the flexible clamp instrument to increase the load capacity. Based upon the investigation of bionic soft clamp principle, the applicant proposes a novel structure composed of high-density elastic multi-chamber soft body and vacuum suction stoma structures. The coupling mechanisms between gas and soft bodyas well as that of soft body and workpiece will be analyzed. The clamping mutual-coupling model will be built and verified uponexperimental results. A vacuum generation device and vacuum suction stoma will be designed, where the core element is the Laval nozzle.Factors affecting the vacuum loading scheme will be studied in order to propose the solution of increasing vacuum suction force. Upon the completion of this research proposal, theoretical preparation and technical foundation will be provided for bionic soft clamping technology.