Tendon rope driven variable rigidity soft finger and soft hand thereof

Abstract

The invention provides a tendon ropedriven variable rigidity soft finger and a soft hand thereof, and belongs to the technical field of soft robots. The tendon ropedriven variable rigidity soft fingercomprises an airway tube, a soft basebody, tendon ropes penetrating through the soft basebody in an inserting mode, a motor and a negative pressure device, wherein the motor and the negative pressuredevice are positioned outside the soft basebody. The soft base body is internally provided with a closed accommodating cavity in the length direction of a finger body, the accommodating cavity is internally loaded with a rigidity adjusting medium encapsulated by a soft film, a certain deformation space is formed between an blocking part formed by the soft film and the rigidity adjusting medium and the accommodating cavity, and the soft film communicates with the negative pressure device through theairway tube. The soft base body is driven by a motor through the tendon ropes to simulate fingerbending and straightening. The tendon ropedriven variable rigidity soft finger and the soft hand thereof have the characteristic of flexible rigidity, the working efficiency ishigh, the operation issimple, the grabbing force islarge, the controllability isgood, and the rigidity changing effect is obvious.

Description

technical field [0001] The invention relates to a soft finger with variable stiffness driven by a tendon rope and a soft hand thereof, belonging to the technical field of soft robots. Background technique [0002] In the past ten years, soft robot technology has developed rapidly. Unlike traditional robots composed of connecting rods and kinematic pairs, soft robots imitate molluscs in nature and are made of soft materials that can withstand large strains and have greater flexibility. And the ability of continuous deformation, strong environmental adaptability, soft robot is a new direction of robotics research, which makes up for some functional defects of traditional robots, has its uses in many aspects, and has a bright development prospect. [0003] The soft hand as an end effector has also received extensive attention from researchers at home and abroad. Traditional rigid manipulators are generally composed of rigid modules connected by kinematic pairs, which have the ...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problems of insufficient grasping force and low control precision of the existing pneumatic soft hand, and propose a variable stiffness soft finger and its soft hand driven by tendon ropes, so as to precisely control the movement of the soft finger and improve the grasping ability. The accuracy of picking and the strength of grabbing, the motor drives the tendon rope to drive the movement of the soft hand, plus the cooperation of the negative pressure device and the blocking structure, to achieve the characteristics of variable stiffness, and to better complete the precise grabbing of objects operate

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