Soft human-simulated finger and preparing method thereof

A finger and soft body technology, applied in the field of humanoid finger structure, can solve problems such as large-scale deformation of soft body tissue, energy absorption characteristics and reduced external force effect, and achieve the effect of reducing structural complexity

Inactive Publication Date: 2016-06-01
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, the large deformation and energy absorption characteristics of soft tissue reduce the effect of external force

Method used

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  • Soft human-simulated finger and preparing method thereof
  • Soft human-simulated finger and preparing method thereof
  • Soft human-simulated finger and preparing method thereof

Examples

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Embodiment 1

[0050] designed as Figure 1A Shown right index finger, the length of the right index finger is b=112mm, the thickness of the right index finger is 4mm (being h1+h3=4mm, matrix wall thickness 2mm, skin glue layer wall thickness 2mm), α=6 degree, adjacent two The interval d=5mm between two clockwise coils 4A.

[0051] Install the base 5B of the soft humanoid right finger on a bracket, and the axis in the length direction of the finger is parallel to the Y-axis of the six-axis force sensor (Mini40F / Tsensor, ATI, USA), and the end of the finger 5A is located at the origin of the force sensor. above. The pressure sensor (ISE40-C6-22L-M, SMC, Japan) can measure and display the pressure in the closed cavity of the finger matrix core in real time. The force data of the finger acting on the force sensor will be collected by a computer data board (PCI-6284, National Instruments, USA), and processed and recorded by the compiled LabVIEW host computer software program. The dynamic perf...

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Abstract

The invention discloses a soft human-simulated finger and a preparing method thereof. One end of the soft human-simulated finger is a finger tail end (5A), and the other end of the soft human-simulated finger is a finger root (5B); an airflow guide pipe (2) is mounted on the finger root (5B), and after a strain limiting layer (30) is spliced on a bottom face board of a hollow base body (3), clockwise and anticlockwise winding lines are wound around the hollow base body to form a fiber enveloping layer (4); and an outer skin layer (1) is formed in an injection molding manner. An air bag (3A) is arranged in the middle portion of the hollow base body (3), and is filled with gas or liquid with a certain pressure, and therefore the soft human-simulated finger deforms. The material young's model of the designed soft human-simulated finger is 250 kPa, the hardness of the soft human-simulated finger approximates to the hardness of human body skin, maximum bending displacement of the single soft human-simulated finger can reach 100 mm, and the output force can reach 4 N.

Description

technical field [0001] The invention relates to a humanoid finger structure, more particularly, a software humanoid finger with structure pre-programmed. Background technique [0002] As an effective extension of human limbs, humanoid finger is one of the important topics in the field of robotics research. Compared with the simple and common end effector, the humanoid finger is highly similar to the shape and size of a real finger, and can complete flexible and precise movements. After decades of development, the humanoid finger has become a multidisciplinary system integrating electromechanical, sensing, materials, intelligence and driving. At present, traditional humanoid fingers generally achieve dexterous movements similar to human hands through complex multi-joint structures and exquisite drive systems. However, the design of this bionic finger is difficult, the development cycle is long, and the manufacturing cost is expensive. It requires complex sensor control and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B29C45/14B29B11/06
CPCB25J9/0006B29C45/14221B29C45/14819B29C2045/14245
Inventor 文力王辉马俊功王田苗
Owner BEIHANG UNIV
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