Structure decoupling driven variable-stiffness soft hand

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...

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 coupled antagonistic soft hand will affect each other, which is not conducive to the control of the soft hand, making the scope of application of the soft hand severely reduced

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