Fully compliant pneumatic mechanical arm structure

Abstract

The invention discloses a fully compliant pneumatic mechanical arm structure which adopts a lengthwise conical structure. The fully compliant pneumatic mechanical arm structure comprises a fully compliant pneumatic mechanical arm main body, a mechanical arm center body positioned in the conical center hole of the fully compliant pneumatic mechanical arm main body, and air passages evenly surrounding the mechanical arm center body and in axially symmetrical distribution, wherein the air passages extend from a large-diameter end to a small-diameter end and keeps a certain distance with an end surface so as to keep gas inside the air passages, and a layer of fiber reinforced composite material is arranged on the outer surface of a mechanical arm; the air passages in axially symmetrical distribution are of lengthwise conical structures; the fully compliant pneumatic mechanical arm main body is made of a super elastic material, more than 200 percent of deformation is produced under pneumatic pressure, and the hardness of the mechanical arm center body is higher than that of the fully compliant pneumatic mechanical arm main body. Compared with the prior art, the fully compliant pneumatic mechanical arm structure provided by the invention imitates octopus tentacles, and integrates the air passages and the mechanical arm, so that the structural design, the processing and manufacturing, and the assembling of the entire mechanical arm are greatly simplified, 3D printing technology is used for one step processing, and objects in complex shapes can be grabbed, the mass is light, and the transmitting cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of space on-orbit service flexible manipulators, and is mainly applied to space debris cleaning operations, space filling systems and the like. Background technique [0002] Most of the existing space manipulators are rigid manipulators. These robot mechanisms are combined by a plurality of movable joints through rigid connections. At the same time, rigid structures, motors, gears, reducers and other transmission mechanisms are used as drivers to make the components of the mechanism move. However, the existing robot mechanisms are usually complicated. , Large quality / volume, bulky, complex control, high energy consumption, and expensive. Moreover, the operation can only be achieved through the actuator at the end of the robotic arm, and the robotic arm itself cannot manipulate objects. Therefore, in order to complete the capture of different operating objects, different interfaces must be designed for the ...

AI Technical Summary

Problems solved by technology

However, the existing soft pneumatic manipulators use rigid brackets and joints to varying degrees, and are not fully flexible manipulators in the true sense.

Currently, there is no fully flexible pneumatic robotic arm for use in space

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