Variable-stiffness three-finger soft-bodied robot

A variable stiffness, robot technology, applied in manipulators, chucks, manufacturing tools, etc., can solve problems such as low robustness, achieve large output bending angle and fingertip force, increase applicability, and reduce processing and manufacturing costs. Effect

Active Publication Date: 2018-11-23
TIANJIN UNIV
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Problems solved by technology

Chinese patent CN106003131A discloses a dual-channel soft finger and soft robot, which uses gas-driven soft structure to realize functions such as grasping and handling. This device is limited by the characteristics of soft materials, and it cannot be effectively used for objects of different quality, shape and material. Realizes a transformation of stiffness during the grasping process, resulting in less robustness during the grasping process

Method used

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  • Variable-stiffness three-finger soft-bodied robot
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Embodiment Construction

[0027] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0028] Referring to the accompanying drawings, the variable stiffness three-fingered soft robot of the present invention includes three variable stiffness soft body fingers, such as Figure 1A , Figure 1B , Figure 1C , Figure 1D , Figure 1E As shown, each of the variable stiffness soft fingers is a multi-layer structure. Variable stiffness soft fingers are made of silicon rubber (silicon rubber raw material), so they are soft. Among them, the driving layer 1, the silica gel base 20, and the silica gel shell 13 are made of silicone rubber, which can be made by traditional pouring technology; 3D printing rapid prototyping.

[0029] as attached Figure 1A , Figure 1B As shown, the variable-stiffness soft finger is composed of a driving layer 1 , an inextensible layer 2 and a variable-stiffness layer 3 fixedly connected i...

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Abstract

The invention discloses a variable-stiffness three-finger soft-bodied robot. Each soft-bodied finger is driven by a gas to produce a bending variable-stiffness effect and mainly comprises a driving layer, an inextensible layer and a variable-stiffness layer, wherein the driving layer consists of a plurality of gas bags communicating with one another and can be bent under a positive pressure; the inextensible layer mainly comprises a silica gel substrate with gridding cloth embedded therein and can limit tensile deformation of the corresponding soft-bodied finger during bending deformation; artificial scales which are sequentially distributed in a stacked manner are arranged in the variable-stiffness layer, and the variable-stiffness layer can be pressed under the positive pressure to achieve a soft-to-stiff effect; and the soft-bodied fingers are mainly formed by die casting, and part of structures can be manufactured by means of the 3D printing technology. The variable-stiffness three-finger soft-bodied robot realizes non-destructive grabbing of a produced object while guaranteeing the grabbing speed.

Description

technical field [0001] The invention relates to a soft finger, in particular to an aerodynamic variable stiffness soft finger and a variable stiffness three-finger soft robot assembled with the finger. Background technique [0002] Inspired by the outstanding environmental adaptability of soft-bodied organisms, a consensus has been formed in recent years that the fundamental solution to the robot's environmental adaptability, interaction friendliness, and action safety is to innovate the basic structure of the robot so that its overall structure or part The structure becomes an all-software structure. Soft robots can actively / passively control their own shape like living organisms to achieve better environmental interaction. Chinese patent CN106003131A discloses a dual-channel soft finger and soft robot, which uses gas-driven soft structure to realize functions such as grasping and handling. This device is limited by the characteristics of soft materials, and it cannot be e...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12
CPCB25J15/10B25J15/12
Inventor 孙涛韩天宇宋轶民
Owner TIANJIN UNIV
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