Active adaptation flexible mechanical gripper with variable rigidity

Abstract

The invention discloses an active adaption flexible mechanical gripper with variable rigidity. The active adaption flexible mechanical gripper with variable rigidity comprises a gripper base, a plurality of gripper fingers capable of being controlled to bend, and a gripping bag used for adaptively attaching and tightly clamping the surface of an object to be gripped; the interior of the gripping bag is filled with particulate matters; a first air port, used for controlling the vacuum degree inside the gripping bag and further controlling overall shaping of the particulate matters, and adaptively clamping the object to be gripped, is formed in the gripping bag; the gripper fingers are fixed on the gripper base; the gripping bag is positioned inside a space formed by the gripper fingers, andthe outer wall of the gripping bag is fixedly attached with the bent inner side walls of the gripper fingers; the active adaptation flexible mechanical gripper can carry out self active adjustment, can improve the adaptation and the flexibility of an actuator at the tail end of a robot to a great extent, can greatly improve gripping performance, is high in gripping load and excellent in stability, and has a wide application scope.

Description

technical field [0001] The invention relates to the field of robots, in particular to an active adaptable soft mechanical gripper with variable stiffness. Background technique [0002] As the end effector for the interaction between the robot and the environment, the robot gripper is of great significance for improving the operation level and work efficiency of the robot. The flexibility and adaptability of the robot gripper is an important symbol to measure the design level of the robot gripper; existing Most robot end effectors are rigid structures with poor adaptability. Therefore, multi-module variable stiffness mechanical grippers appear. The biggest difference between multi-module variable stiffness mechanical grippers and rigid mechanical grippers is that the body material is soft. Yes, because soft tissue materials have more complex and variable response characteristics than rigid materials, this brings functional flexibility and easy compliance. Although the flexibl...

AI Technical Summary

Problems solved by technology

[0002] As the end effector for the interaction between the robot and the environment, the robot gripper is of great significance for improving the operation level and work efficiency of the robot. The flexibility and adaptability of the robot gripper is an important symbol to measure the design level of the robot gripper; existing Most robot end effectors are rigid structures with poor adaptability. Therefore, multi-module variable stiffness mechanical grippers appear. The biggest difference between multi-module variable stiffness mechanical grippers and rigid mechanical grippers is that the body material is soft. Yes, because soft tissue materials have more complex and variable response characteristics than rigid materials, this brings functional flexibility and easy compliance. Although the flexible actuators in the prior art have the ability to grasp objects with conformal The lack of the function of actively changing its own structure and characteristics greatly limits the gripping performance, the gripping load is small and the stability is poor, and the scope of application is small

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