Thermal expansion fluid composite spherically-shaped cavity drive type robot soft hand

Abstract

The invention discloses several different thermal expansion fluid composite spherically-shaped cavity drive type robot soft hands. Each thermal expansion fluid composite spherically-shaped cavity drive type robot soft hand comprises a plurality of thermal expansion fluid composite spherically-shaped cavity drive type robot soft fingers and a thermal expansion fluid composite spherically-shaped cavity drive type robot soft palm, wherein the thermal expansion fluid composite spherically-shaped cavity drive type robot soft fingers adopts a thermal expansion fluid and shape memory alloy compositespecially-shaped cavity single-side driver, a thermal expansion fluid and electric-control heating material composite specially-shaped cavity single-side driver, a thermal expansion fluid and shape memory alloy composite specially-shaped cavity dual-side driver, and a thermal expansion fluid and electric-control material composite specially-shaped cavity dual-side driver. Thermal expansion deformation drive of the thermal expansion fluid composite specially-shaped cavity and deformation drive of the shape memory alloy are combined, so that the thermal expansion fluid composite spherically-shaped cavity drive type robot soft hand has the strengthening effect of cooperative superposing and dual-driving.

Description

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

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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