Rigid-soft coupling mechanical finger with variable-rigidity internal skeleton

A technology of mechanical fingers and endoskeleton, which is applied in the field of industrial automation robots, can solve the problems of unreachable strength, limited grasping capacity and carrying capacity, etc., and achieve the effect of beautiful structure, improved grasping capacity and obvious performance

Inactive Publication Date: 2019-03-19
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to material limitations, traditional soft fingers cannot achieve the same strength as l

Method used

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  • Rigid-soft coupling mechanical finger with variable-rigidity internal skeleton
  • Rigid-soft coupling mechanical finger with variable-rigidity internal skeleton
  • Rigid-soft coupling mechanical finger with variable-rigidity internal skeleton

Examples

Experimental program
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Effect test

Embodiment Construction

[0022] like figure 1 As shown, it is a rigid-soft coupled mechanical finger with a variable stiffness endoskeleton involved in this embodiment, which includes: a soft body finger 1 and a variable stiffness endoskeleton 2 arranged in the soft body finger 1, wherein: one end of the variable stiffness endoskeleton 2 is set Outside the finger 1 of the software.

[0023] The variable stiffness endoskeleton 2 includes: the proximal phalanx 3, the middle phalanx 4 and the distal phalanx 5 connected in sequence, wherein: the middle phalanx 4 is rotationally connected with the proximal phalanx 3 and the distal phalanx 5 respectively, and the proximal phalanx One end of the phalanx 3 is set outside the soft finger 1 , and one end of the distal phalanx 5 is set in the soft finger 1 .

[0024] The soft finger 1 includes: a finger outer layer 6 , an air nozzle 7 and a finger inner core 8 , wherein: the finger inner core 8 is arranged in the finger outer layer 6 , and the air nozzle 7 is a...

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PUM

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Abstract

The invention discloses a rigid-soft coupling mechanical finger with a variable-rigidity internal skeleton. The rigid-soft coupling mechanical finger comprises a soft finger body and the variable-rigidity internal skeleton arranged in the soft finger body, and the variable-rigidity internal skeleton comprises a proximal phalanx, a middle phalanx and a distal phalanx which are sequentially connected, wherein the middle phalanx is rotationally connected with the proximal phalanx and the distal phalanx, the proximal phalanx communicates with the distal phalanx, the proximal phalanx and the distalphalanx are internally provided with a first expansion membrane and a second expansion membrane correspondingly, and by injecting gas into the distal phalanx, the first expansion membrane and the second expansive membrane are expanded to deform so as to change rigidity. The rigid-soft coupling mechanical finger is attractive in structure, small in size and higher in adaptability, and the performance of the soft finger body is obviously improved; and safe and efficient interaction between the soft finger body and the environment is ensured, the grabbing ability and bearing capacity of the finger is also greatly improved, the size of a gripper device is decreased, and the space is saved.

Description

technical field [0001] The invention relates to a technology in the field of industrial automation robots, in particular to a mechanical finger with variable stiffness endoskeleton rigid-flexible coupling. Background technique [0002] A particularly active area of ​​modern robotics research involves the exploration of flexible parts, whether artificial muscles or grippers for grasping objects. These more malleable parts open up new possibilities for humans and make machines more flexible. Safety. Among them, the research on soft fingers has attracted extensive attention from academia and industry. The fingers of the soft hand can actively or passively change its shape, stiffness, and movement mode like a biological body, so as to interact with the environment more safely and efficiently. However, due to material limitations, traditional soft fingers cannot achieve the same strength as living organisms, which greatly limits the ability of soft grippers to grasp and carry l...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/00B25J15/0009
Inventor 郭欣宇张文明李汶柏
Owner SHANGHAI JIAO TONG UNIV
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