Structure decoupling driven variable-stiffness soft hand

A variable stiffness, soft body technology, applied in the field of intelligent robots, can solve problems such as unfavorable control of soft hands, reduction of the scope of application of soft hands, etc., to achieve the effect of no mechanical fatigue and wear problems, risk reduction, and reasonable structure

Inactive Publication Date: 2018-06-19
WUHAN UNIV OF TECH
View PDF5 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As far as the existing soft hands are concerned, the changes in the driving force and stiffness of the two structures of the self-excited coupled soft hand and the couple

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Structure decoupling driven variable-stiffness soft hand
  • Structure decoupling driven variable-stiffness soft hand

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0016] The technical solutions of the present invention will be described below in conjunction with the drawings and embodiments.

[0017] Such as figure 1 As shown, a decoupling-driven variable stiffness soft hand according to the present invention includes a palm base 1, and three electrical interfaces 11 at the front end of the palm base 1 are respectively equipped with three fingers with one long and two short fingers. , the finger includes fingertips 2, several knuckles 4 and finger bases 3 arranged at intervals in turn, and a skeleton structure is connected between the fingertips 2, several knuckles 4 and finger bases 3; Muscle structure and muscle tissue, the ends of the skeleton structure, muscle-like structure and muscle tissue are respectively connected to the electrical interface 11 through the finger root 3, the skeleton structure, muscle-like structure and muscle tissue are all SMA alloy materials; the three fingers are respectively installed The grasping structu...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to the technical field of intelligent robots, in particular to a structure decoupling driven variable-stiffness soft hand, which comprises a palm base. A long finger and two short fingers are arranged on three electrical interfaces in the front end of the palm base; each finger comprises a fingertip, a plurality of finger knuckles and a finger root arranged sequentially at intervals; a framework structure is connected among the fingertip, the plurality of finger knuckles and the finger root; muscle-like structures and muscular tissues are arranged on the fingers; and theframework structures, the muscle-like structures and the muscular tissues are made of SMA (shape memory alloy) materials. The structure decoupling driven variable-stiffness soft hand provided by the invention is reasonable in structure; and the SMA drives various parts of the fingers to act, and meanwhile, an electric current changes a temperature of the shape memory alloy so as to control a Youngmodulus, so that the stiffness of the fingers is variable, a more accurate grabbing action can be obtained; and the structure decoupling driven variable-stiffness soft hand has a simpler structure and solves the problems of mechanical fatigue and wear, and risks caused during an interaction process of a manipulator and people can be further reduced, so that a practicable structure model for softhand development is provided.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a soft hand with variable stiffness driven by structural decoupling. Background technique [0002] Traditional manipulators are not suitable for many occasions due to problems such as rigidity cannot be changed and driving methods are limited, and their service life is short due to wear and tear. They are suitable for a small range of grasping objects, heavy structures, high manufacturing difficulties, energy consumption, consumables, etc. He has obvious defects, etc., and the soft manipulator is a manipulator made of soft materials. It is more capable of manipulating small or fragile objects than traditional manipulators or grippers. Soft hands make full use of the natural compliance of various flexible materials, including rubber, polymers, smart materials, and multifunctional materials, as well as their potential "mechanical properties" in soft hand motion and cont...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J15/10B25J9/10
CPCB25J9/1075B25J9/1085B25J15/10
Inventor 尹海斌章志大李骞李阳
Owner WUHAN UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap