Air bag type flexible finger and flexible hand

Abstract

The invention provides an air bag type flexible finger which comprises at least two finger-shaped joints and a drive motor arranged on the connection portion of the two adjacent finger joints. The finger joints are provided with air bags. Each air bag is provided with an air inlet used for inflation and an air outlet for deflation. By means of the unique air bag design, adaptability of the flexible hand can be improved, and use of sensors on the fingers of the flexible hand is reduced. The flexible hand has wide adaptability and can grasp objects in any appearance outline, the flexible air bags can self-adapt to the shape of a target object, some soft and fragile objects easy to deform can be obtained, and grasping stability is improved. The distribution mode of the flexible finger can be set according to the shapes of different bases, the number of the flexible fingers is increased, the relative position of the flexible hand can be changed to complete different operations and grasping, and the problem that a common flexible hand is poor in adaptability of soft objects easy to deform. The invention further provides the flexible hand with the air bag type flexible fingers.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to a manipulator in the field of robots. Background technique [0002] With the continuous development of robot technology, the robot dexterous hand has also made great progress. Research scholars at home and abroad have also conducted extensive research on robot end effectors and achieved fruitful results. The research in the field of robotic dexterous hands in foreign countries was carried out relatively early. After unremitting efforts, researchers in Japan, the United States, and Germany have successively developed various types of dexterous hands. Japanese researcher Okada.T successfully developed the Okada dexterous hand as early as 1974. The dexterous hand mainly transmits power through wire ropes. The main types of sensors include motor position sensors, joint position sensors, and motor current sensors. Stanford University successfully developed the Stanford / JPL multi-...

AI Technical Summary

Problems solved by technology

Although the rubber liner is used to avoid damage to the fruit, the flexibility of the rubber liner is fixed, and its adaptability to different types of fruits will become poor

[0004] Of the above typical dexterous hands, although the Okada dexterous hand has high sensitivity, it is not flexible enough, especially for grasping flexible objects; although the Stanford / JPL multi-fingered dexterous hand considers the force of the fingers on the object, the control is relatively weak. Complex; although the Shadow dexterous hand uses pneumatic artificial muscles, it only transmits the driving force of the pneumatic artificial muscles to the joints of each finger, without considering the flexibility of the fingers; although the Toshiba dexterous hand has good compliance and environmental adaptation, But the control system is quite complicated, and the near knuckles, middle knuckles, and far knuckles of the fingers are not clear, and the flexibility for grasping objects is not high.

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