Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof

Abstract

The invention discloses an octopus tentacle imitating adaptive capture soft manipulator and a capture method thereof. The octopus tentacle imitating adaptive capture soft manipulator mainly comprises a tentacle, an air pipe, an electrical proportional valve, strain gages and a magnetic valve, wherein the tentacle imitates the shape of an octopus tentacle and is in an irregular strip cone shape, a tentacle protrusion with a large diameter is arranged at the end of the tentacle, groups of ellipsoidal pressure regulating cavities are evenly distributed in the tentacle, main air channels are distributed along the axle direction of the tentacle in the tentacle, each row of ellipsoidal pressure regulating cavities distributed along the axial direction corresponds to a main air channel, the main air channels do not directly pass through the ellipsoidal pressure regulating cavities and are connected with the ellipsoidal pressure regulating cavities through branch air channels, magnetic valves are arranged at the positions of the branch air channels for connecting the ellipsoidal pressure regulating cavities and the main air channels, the strain gages are placed between each two groups of the ellipsoidal pressure regulating cavities, the ellipsoidal pressure regulating cavities produce different shape changes so as to control tentacle to bend through feedback of signals of the strain gages and match between the magnetic valve and the electrical proportional valve, and the tentacle winds objects by controlling a plurality of groups of the pressure regulating cavities.

Description

technical field [0001] The invention relates to the field of robotic hands, in particular to an adaptive grasping soft manipulator imitating octopus tentacles and a grasping method thereof. technical background [0002] Manipulators, also known as clamping end effectors, whether they are applied to handling robots, assembly robots or more professional specific occasions, their basic purpose is to achieve the function of grasping objects. Commonly used manipulators are two-three fingers or deformed fingers, but this type of manipulator is usually designed for parts with fixed shapes or shapes with similar structures, which has the problem of slow grasping and poor adaptability. [0003] Subsequently, some scientific researchers modified the traditional manipulator, broke the original purely mechanical structure, and developed air-suction and magnetic-suction end effectors. This type of actuator shows its prominence in the grasping of large, fragile or soft workpieces. At the...

AI Technical Summary

Problems solved by technology

This type of end effector can better realize the adaptive grasping function, but the microstructure of the nano-force gripper is difficult to manufacture, and the mechanical structure of the bionic triangular gripper and the human-like end effector is too complex

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