Manipulator compliant clamp based on magnetorheological fluid

Abstract

The invention relates to a manipulator compliant clamp based on magnetorheological fluid. The manipulator compliant clamp based on the magnetorheological fluid comprises a palm body and at least two fingers. Each finger comprise a guide block, an arc-shaped piece, a spring piece and a damper, wherein the guide block is connected with one end of the arc-shaped piece, the other end of the arc-shapedpiece is fixedly connected with one end of the spring piece, and the other end of the spring piece penetrates through a through hole close to one end of the arc-shaped piece; the damper comprises a conduit, an electromagnetic coil, a piston rod, magnetorheological fluid and a sleeve; the middle part of the spring piece is connected with one end of the piston rod; the other end of the piston rod extends into the sleeve to do linear motion; the sleeve is fixedly connected with the arc-shaped piece; the inner cavity of the sleeve is filled with the magnetorheological fluid; the sleeve communicates with the conduit; the electromagnetic coil is arranged outside the sleeve; and the guide block of each finger can be slidingly sleeved in the palm body. The manipulator compliant clamp based on themagnetorheological fluid provided by the invention can adjust the clamping rigidity of the clamp, improve the adaptability of the fingers, so that the fingers have active compliance.

Description

technical field [0001] The invention relates to the technical field of robots and intelligent agricultural equipment, in particular to a compliant clamp based on magnetorheological fluid. Background technique [0002] Articulated robots have been widely used in all aspects of industrial and agricultural production, life services, etc. During the clamping operation, the traditional mechanical fixtures are not flexible and have no active stiffness adaptability, so it is easy to pinch the surface of the operating object, or clamp not stable enough. In order to prevent the operating object from being pinched and improve the reliability of the fixture, the contact surface between the fixture and the clamped object is required to have a certain degree of flexibility, thereby reducing the stress concentration on the contact surface. The methods adopted in the prior art mainly use elastic materials, such as rubber, nylon and other elastic materials to cover the contact surface, and...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the shortcomings of the existing manipulator clamps that cannot adjust the clamping stiffness and poor adaptability, the present invention provides a manipulator compliant clamp based on magnetorheological fluid, which can adjust the clamping stiffness of the clamp and improve the adaptability of the fingers. Fingers gain active flexibility

Images