Rope driven magnetorheological fluid particle-reinforced universal grasping device

Abstract

The invention relates to a rope driven magnetorheological fluid particle-reinforced universal grasping device, and belongs to the technical field of robot hands. The rope driven magnetorheological fluid particle-reinforced universal grasping device comprises a base, a driver, a transmission mechanism, a channel, a first film drawing piece, a second film drawing piece, particle materials, a filter layer, an electromagnet, an elastic film and magnetorheological fluid. The first film drawing piece and the second film drawing piece are pulled so that the elastic film is recessed upwards and deforms, the elastic film wraps an object and is adaptively attached to the outline of the object, part of the magnetorheological fluid which is compressed enters the upper part of the channel, a sealed negative-pressure region can be possibly formed between the elastic film and the object, and under the combined action of the pressure of the magnetorheological fluid, the atmospheric pressure and the friction force of the elastic film, the object can be grasped; the density of the particle materials in the lower part of the elastic film is increased, and the solidification effect is achieved so that the grasping force can be larger; and the electromagnet is electrified to generate an electromagnetic field, so that the magnetorheological fluid is solidified, and the grasping effect is enhanced. By the device, the multi-dimensional adaptive grasping function is fulfilled, and the device can adaptively grasp objects in different shapes and different sizes; and the device can adapt to the objects in a plurality of directions, grasps the objects stably and quickly, and is simple in structure.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a rope-driven magnetorheological fluid particle-enhanced universal grasping device. Background technique [0002] Robots use claws (or grippers) to grasp objects, therefore, the claw is an important terminal of the robot. The robot hand developed by imitating the human hand is called anthropomorphic robot hand or multi-fingered robot hand. Many multi-fingered robot hands have been developed. They have multiple fingers respectively, and each finger has multiple rotating joints. Among them, the simplest is a two-finger gripper (also known as an industrial gripper), which imitates the grasping of a human hand with a two-finger glove (thumb and four fingers open and close), or similar to a bird's beak gripping. They are widely used in industry, and can stably grasp special objects of specified shape and size. The structure is very simple an...

AI Technical Summary

Problems solved by technology

The multi-fingered dexterous hand has a complex structure, cumbersome sensing and control, and high cost, so it has not been widely used yet

[0005] (2) polyfingered underactuated hand

The disadvantages of this universal holder are: the way of pumping air requires a large power source of air, the noise is high, the energy consumption is high, and the whole system is bulky. It takes a period of time to pump almost all the air The crawling is completed only after all the draws are drawn, and the crawling is not fast

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