Rigidity-variable soft body mechanical hand

Abstract

The invention discloses a rigidity-variable soft body mechanical hand, which consists of one or a plurality of execution units, wherein each execution unit comprises a deformation part and a rigidityregulating part; the deformation part mainly consists of a soft base body and peripheral restraint fiber; the rigidity regulating part is mainly a medium layer with a built-in rigidity regulating medium; a base body is of a flexible hollow tubular structure made of silica gel synthetic materials; two groups of inextensible fiber (wire materials) wound according to a certain angle are arranged at the outer side of the base body. The rigidity regulating part is arranged at the outer side of the base body; the rigidity regulating medium is built in the rigidity regulating part; the rigidity regulating part is subjected to vacuum pumping; the medium contact area is increased, so that the friction change is caused, and the rigidity is further changed. The soft body base body is driven by air pressure or hydraulic pressure; the rigidity regulating part is driven by using a negative pressure device; through the matching of the deformation part and the rigidity regulating part, the goal that the soft body mechanical hand realizes both the rigidity feature and softness feature is achieved; the operation efficiency is high; meanwhile, high safety during the interaction of external operationobjects and operation environment can be ensured.

Description

technical field [0001] The technology relates to a soft robot gripper, specifically a variable stiffness soft manipulator. Background technique [0002] Since entering the 21st century, robot technology has been widely used in many fields such as military affairs, industry, and scientific detection. Traditional robots are generally composed of rigid modules connected by kinematic pairs, and each kinematic pair provides one (or more) translational degrees of freedom or rotational degrees of freedom. The motion combination of all kinematic pairs forms the working space of the robot end effector. This robot has the advantage of precise motion, but the rigidity of the structure makes it poorly adaptable to the environment, and the motion in a narrow space is limited. The soft robot imitates the molluscs in nature. It is made of soft materials that can withstand large strains. It has greater flexibility and continuous deformation capabilities. It has a strong ability to adapt ...

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Problems solved by technology

However, since its research has just started, there are a series of problems in materials, design, processing, sensing, control, and use that need to be further studied, so its research is also full of difficulties and challenges.

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