Thermal expansion fluid composite non-special-shaped cavity driven type robot soft hand

Abstract

The invention discloses a plurality of different types of thermal expansion fluid composite non-special-shaped cavity driven type robot soft hands. All the robot soft hands comprise a plurality of thermal expansion fluid composite non-special-shaped cavity driven type robot soft fingers and thermal expansion fluid composite non-special-shaped cavity driven type robot palms, wherein the thermal expansion fluid composite non-special cavity driving type robot soft fingers adopt a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver, a thermal expansion fluid and an electric control heating material composite non-special-shaped cavity single-side driver, a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver, a thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver. According to the thermal expansion fluid composite non-special cavity driven type robot soft hands, the thermal expansion fluid composite non-special-shaped cavity is adopted, a thermal expansion fluid control valve to regulate the one-way flow of partial substancesin the thermal expansion fluid is combined, and the rigidity of the gripped article of the finger of the soft body can be improved.

Description

technical field [0001] The invention belongs to the fields of artificial intelligence, robots and robot end effectors, and more specifically relates to a thermal expansion fluid composite non-special-shaped cavity-driven robot soft hand. Background technique [0002] With the rapid development of robotics and artificial intelligence technology, the application of robotics and artificial intelligence technology has gradually extended from the industrial field to agriculture, rehabilitation medicine, entertainment services and other fields. Therefore, people hope that the end effector of the robot can be more flexible and capable. It is suitable for a variety of changeable operating objects, and has correspondingly higher requirements for the robot drive system. Whether it is an industrial robot, an agricultural robot, or a rehabilitation robot, its end effector is often an important executive component that directly contacts the object. The flexibility and controllability of ...

AI Technical Summary

Problems solved by technology

The dexterous hand with a rigid structure is easy to model due to its typical finger structure, but its rigid fingers are less safe to operate on target objects (especially soft, fragile, and complex-shaped objects), with limited degrees of freedom and limited work space. The ability to adapt to the limited environment is not strong, and the ability to stably and reliably grasp objects with complex shapes is not strong enough

Tendon transmission technology is also used in part of the structure of the robot dexterous hand. However, tendon transmission also has some disadvantages. For example, the tendon winding method requires scientific path planning, otherwise it will lead to uncontrollability, or add additional control torque to control coupling. The emergence of the effect will also increase the difficulty of control

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