Pneumatic soft mechanical hand and manufacturing method

A manipulator and manipulator technology, applied in the field of pneumatic software manipulators, can solve the problems of damage to the object to be grasped, limited pressure, low load capacity, etc., to achieve the effect of improving grasping ability, improving applicability, and increasing frictional force

Active Publication Date: 2018-03-30
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A large part of the existing soft manipulators are directly 3D printed with TPU material. Its surface hardness is high, and it is easy to cause damage to the grasped objects. It is not a soft manipulator in the strict sense; another part of the soft manipulator uses All kinds of silicone injection molding, the internal pressure is limited and the load capacity is low
Therefore, the existing soft manipulators are limited to their own structural performance and have not been widely used.

Method used

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  • Pneumatic soft mechanical hand and manufacturing method
  • Pneumatic soft mechanical hand and manufacturing method
  • Pneumatic soft mechanical hand and manufacturing method

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Experimental program
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Embodiment Construction

[0035] refer to Figure 1 to Figure 3 The manufacturing method of the soft manipulator in the present invention is further described.

[0036] A method for manufacturing a pneumatic soft manipulator, specifically comprising the following steps:

[0037] Step 1: Mold preparation:

[0038] a. Use photosensitive resin material 3D printing to generate mold: Use 3D modeling software to model the mold and generate STL files, import the STL file into the slicing software for slicing processing, and use SLA light curing molding 3D printing to print the mold.

[0039] b. Spray the release agent on the inner surface of the mold: Spray the release agent evenly on the inner surface of the split mold and let it stand for 15 minutes.

[0040] Step 2: Silica gel mixing and stirring:

[0041] a. Mix the silica gels of A and B components in a ratio of 1:1 (the silica gel is DragonSkin 30 from SMOOTH-ON Company): take the silica gels of A and B components in a ratio of 1:1 40 g, added to a ...

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Abstract

The invention discloses a pneumatic soft mechanical hand and a manufacturing method. The split type design scheme is adopted in the soft mechanical hand, the soft mechanical hand is divided into a corrugated pipe installation part and a bottom plate part, and the soft mechanical hand is manufactured by adopting the split type casting technology. After the two parts are machined and manufactured correspondingly, the two parts are bonded together by the adoption of special silica gel adhesive. The performance of the soft mechanical hand depends on the self structure and the solidifying formationquality of silica gel. In the actual soft mechanical hand manufacturing process, by constantly improving a casting die and the finger manufacturing technology, a set of complete manufacturing technology is formulated, and the machining quality of the soft mechanical hand is ensured.

Description

technical field [0001] The invention relates to a pneumatic soft manipulator, in particular to a design, manufacturing method and assembly scheme of a pneumatic soft manipulator. Background technique [0002] With the development of industrial automation and mechanization, human-like mechanical devices such as traditional rigid manipulators and dexterous hands have been widely used in human social life and production, which has largely liberated people's heavy labor. Traditional rigid manipulators are suitable for structural, repetitive, and dangerous work in industrial sites, and are developing towards high positioning accuracy, high flexibility, and high response speed; dexterous hands are mainly reflected in having more degrees of freedom and precision In order to ensure the safety and integrity of the grasped object, the control of the rigid dexterous hand with more degrees of freedom is very complicated. [0003] With the continuous development and progress of society,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/00B29C69/00B29C39/42B29C65/48
Inventor 王滔张雲策朱世强宋伟陈正冀大雄
Owner ZHEJIANG UNIV
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