Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system

Abstract

The invention discloses a corrugated double-inner-cavity gas-powered flexible micro finger, a control method and a grabbing system. The corrugated double-inner-cavity gas-powered flexible micro finger comprises a double-inner-cavity gas-powered flexible micro finger body composed of two independent pneumatic half-corrugated hollow rubber tube half-fingers I and II which are symmetrically arranged. A thin sheet type bending tilt angle sensor making contact with the two half-fingers is arranged between the two half-fingers. The two half-fingers are provided with a gas inlet and outlet I and a gas inlet and outlet II respectively. The outer side of the top face of each independent pneumatic half-corrugated hollow rubber tube half-finger is a corrugated surface, the bottom face of each independent pneumatic half-corrugated hollow rubber tube half-finger is a horizontal plane, and the top face and the bottom face of each independent pneumatic half-corrugated hollow rubber tube half-finger are connected into a whole to form a hollow sealing cavity. The bottom faces of the two independent pneumatic half-corrugated hollow rubber tube half-fingers I and II are aligned with each other and then are pasted on the thin sheet type bending tilt angle sensor. The corrugated double-inner-cavity gas-powered flexible micro finger has the advantages of being low in cost, safe in cleaning, easy and convenient to install, good in flexibility, smooth in motion, low in noise and free of pollution, having mechanical performance similar to that of biological muscles, and the like.

Description

technical field [0001] The invention specifically discloses a corrugated double-cavity micro-pneumatically driven compliant micro-finger and a control realization method thereof, which can be used to rapidly assemble and construct a pneumatic multi-finger micro-hand grasping system. Background technique [0002] Multi-degree-of-freedom, multi-functional and intelligent multi-fingered dexterous hands are research hotspots in the field of robotics. The multi-fingered hand driven by pneumatic muscles has the advantages of high compliance, high power / mass ratio, high power / volume ratio, and simple structure. Reliability, self-adaptation and safety can overcome the common disadvantages of poor flexibility, complex structure and difficult control of traditional electric, hydraulic and pneumatic cylinder drives. It has a wide range of applications in the fields of industry and agriculture, medical rehabilitation, service and entertainment. [0003] Compared with drivers using trad...

AI Technical Summary

Problems solved by technology

Pneumatic multi-fingered hands also use flexible ropes and pulleys to transmit power over long distances. Two drivers (air cylinders or pneumatic artificial muscles) jointly drive one joint. The structure is relatively simple and the flexibility is good, but there are still the following shortcomings: the separation of the driver and the dexterous hand , through flexible rope pulleys to drive each joint movement, the problems of friction, relaxation and energy consumption in the system cannot be avoided; there is no unified mathematical model for pneumatic artificial muscles, and it is difficult to control the finger output force and joint position

At the same time, the number of drivers is too large, resulting in a complex control system; a large number of drivers placed on the forearm makes the dexterous hand bulky, which brings difficulties to practical applications

[0006] The appearance of the multi-fingered hand is required to be compact, light, flexible and safe, and it is difficult to realize the functions of the miniature flexible hand through traditional actuators

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