Rigid-soft coupled mechanical finger with variable stiffness endoskeleton

Abstract

A mechanical finger with rigid-soft coupling of variable stiffness endoskeleton, comprising: a soft body finger and a variable stiffness endoskeleton arranged in the soft body finger, the variable stiffness endoskeleton includes: sequentially connected proximal phalanx, middle phalanx and distal phalanx, Among them: the middle phalanx is respectively connected with the proximal phalanx and the distal phalanx in rotation, and the proximal phalanx and the distal phalanx are connected, and the proximal phalanx and the distal phalanx are respectively provided with a first expansion membrane and a second expansion membrane. Air is injected into the distal phalanx to expand and deform the first and second inflatable membranes to change the rigidity. The present invention has beautiful structure, small size, stronger adaptability, and significantly improves the performance of the soft finger; it not only ensures the safe and efficient interaction between the soft finger and the environment, but also greatly improves the grasping ability and bearing capacity of the finger, reducing the need for grasping. The volume of the hand device saves space.

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...

AI Technical Summary

Problems solved by technology

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 larger objects.

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