Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism

A technology for grasping manipulators and metamorphic mechanisms, which is applied in the field of manipulator claws, can solve problems such as poor implementation, complex control systems, and low reliability, and achieve the effect of fewer drives, simple control, and high reliability

Inactive Publication Date: 2013-12-11
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the grasping, handling, and placing of objects with complex geometric shapes, or the movement of simulating human hands, cannot be well realized. The current existing mechanical grippers have complex drive and control systems, high cost, and low reliability. question

Method used

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  • Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism

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Embodiment Construction

[0010] Such as figure 1 As shown, the self-adaptive pneumatic flexible grasping manipulator based on the metamorphic mechanism of the present invention includes the metamorphic mechanism OBCD, the metamorphic mechanism OB'C'D', the connecting rod 5, the connecting rod 5', the cylinder piston 6, and the bracket 7 , Base 8, chuck 9, chuck 9', workpiece 10. The support 7 is fixedly connected with the base 8, and the cylinder body is fixed on the base and forms a moving pair with the piston 6. The metamorphic mechanism OBCD is a hinged four-bar mechanism formed by connecting the connecting rod 1, the connecting rod 2, the connecting rod 3, and the connecting rod 4 respectively through the rotating pairs B, C, D, and O; the metamorphic mechanism OB' C'D' is a hinged four-bar mechanism formed by connecting rod 1', connecting rod 2', connecting rod 3', and connecting rod 4' respectively through revolving pairs B', C', D', and O; The swivel pair D, D' has a torsion spring and a posi...

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Abstract

Provided is a self-adaptive pneumatic flexible grabbing mechanical gripper based on a metamorphic mechanism. A support is fixedly connected with a base to form a frame-shaped structure, an air cylinder is located in the frame-shaped structure and is fixedly connected with the base, the gripper comprises a slider crank mechanism and the metamorphic mechanism, chunks are fixedly connected with the metamorphic mechanism, a workpiece is a grabbing object, and contact force sensors are arranged on the surfaces, making contact with the workpiece, of the chucks. Connecting rods are connected to an air cylinder piston through revolute pairs A, the connecting rods are movably connected with the metamorphic mechanism, and the slider crank mechanism is formed by the connecting rods, the air cylinder piston and connecting rods 1 in the metamorphic mechanism, the air cylinder piston is the slider of the slider crank mechanism, the connecting rods are movably connected with the air cylinder piston, and a force feedback control system is connected with the contact force sensors and the air cylinder. Compared with the prior art, the self-adaptive pneumatic flexible grabbing mechanical gripper based on the metamorphic mechanism achieves the purposes of being little in drive, simple in control, low in cost and high in reliability, having certain flexibility, and being capable of self-adaptively grabbing objects in complex space geometrical shapes or simulating the movement characteristics of human hands.

Description

technical field [0001] The invention relates to a self-adaptive aerodynamic flexible grasping manipulator based on a metamorphic mechanism, belonging to the technical field of manipulators. Background technique [0002] Robotic grippers are widely used in the grasping, handling and handling of specific objects by automated equipment or systems. At present, the general-purpose mechanical grippers are divided into three types: non-joint, fixed single-joint and free multi-joint. According to the number of fingers, they can be divided into two-finger, three-finger, four-finger, etc., among which two fingers are used most. Two-finger or three-finger non-joint or fixed single-joint type, it is more convenient to grasp, carry and place objects with simple geometric shapes in space. After adding a contact force sensor and a force feedback control system, the grasping force of the fingers can be controlled to realize Safe to grab. In order to achieve self-adaptive and safe grasping...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/12B25J15/00B25J13/00
Inventor 马履中陈修祥费鹏刘旭东
Owner JIANGSU UNIV
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