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Pneumatic soft finger

A finger and soft technology, applied in the field of robot end effectors, can solve the problems of high manufacturing cost, difficult control, low manufacturing cost, etc., and achieve the effect of good grasping stability

Active Publication Date: 2015-05-13
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the above-mentioned existing fingers, such as difficult control and high manufacturing cost, the applicant provides another pneumatic soft finger, which adopts a silicone main body and air pressure drive, has a simple structure, low manufacturing cost, and simple control

Method used

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Embodiment Construction

[0022] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0023] The pneumatic soft finger of the present embodiment comprises finger 2 and mounting pin 1 two parts (as figure 2 shown), a part of the mounting pin 1 is poured in the finger 2 and glued together with the finger 2, and a part is located outside the finger 2; there are three rows of gas storage cavities and three air passages inside the part of the finger 2, and the three rows The gas storage cavity and the three airways are all parallel to the central axis of the finger 2 and are distributed in a "product" shape; the left airway 6 is located on the side of the left cavity 3 close to the central axis of the finger 2 and communicates with the left cavity 3 , the right airway 8 is located at the side of the right cavity 5 close to the central axis of the finger 2 and communicates with the right cavity 5, and the middle airway 7 is loca...

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Abstract

The invention relates to a pneumatic soft finger comprising a finger body and a mounting pin. One part of the mounting pin is cast in the finger body and adhered to the finger body while the other part is located outside the finger body; three rows of gas storage cavities (namely a left cavity, a middle cavity and a right cavity) and three gas passages (namely a left gas passage, a middle gas passage and a right gas passage) are inside the finger body, and the gas storage cavities are in triangular arrangement; the left gas passage is located on the side, close to the central axis of the finger body, of the left cavity and is communicated with the left cavity, the right gas passage is located on the side, close to the central axis, of the right cavity and is communicated with the right cavity; the middle gas passage is located on the side, close to the central axis, of the middle cavity and is communicated with the middle cavity. The pneumatic soft finger is made of silicone rubber, the cavities are in triangular distribution, and the pneumatic soft finger mounted on the palm can grab objects in different shapes and materials; the middle cavity is filled with low-pressure air, when the materials are grabbed, the cavities can deform moderately, and grabbing stability is good.

Description

technical field [0001] The invention relates to the field of robot end effectors, in particular to an underactuated pneumatic gripper. Background technique [0002] As the output terminal of the robot, the robot hand has become the research object of more and more robot researchers. Robotic hands are mainly divided into two categories: dexterous hands and underactuated hands. The dexterous hand is mainly an imitation of the human hand, which can flexibly complete most of the actions that can be completed by the human hand under the combined effects of the control algorithm, sensor system, and control system. However, the dexterous hand is difficult to manufacture, complicated to control, expensive, and difficult to maintain. . The underactuated hand can achieve more joint degrees of freedom with a smaller number of actuators, and has adaptive ability when grasping objects of different shapes and sizes. At the same time, the device cost is low and the control is simple. ...

Claims

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Application Information

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IPC IPC(8): B25J15/08
Inventor 张秋菊孙沂琳郑坤明陈海卫
Owner JIANGNAN UNIV
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