Self-adaptive imitation software robot gripper
A robotic gripper and self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of lack of driving mode, complex soft material properties, limited number of drivers, etc. Reduced damage, reduced difficulty effect
Active Publication Date: 2019-08-09
GUANGXI UNIV
View PDF9 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Chinese patent CN108555958A discloses an adaptive software gripper, which includes a slider track bracket, an end cover fixedly mounted on the slider track bracket, a spiral track disc installed in the slider track bracket, etc. However, the software gripper lacks an effective driving method and the control is more complicated
In addition, the soft gripper has many degrees of freedom in theory, but the number of actuators is limited, which belongs to the underactuated system, and the characteristics of the soft material itself are complex. The existing dynamic model is theoretically feasible, but it is not suitable for practical use. control
[0004] At present, there is no combination of the characteristics of rigid mechanical grippers and soft grippers to set up an adaptive simulation model that not only has the advantages of high precision and easy control of rigid mechanical grippers, but also has the advantages of strong adaptability of soft grippers. Soft robotic gripper
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0034] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.
[0035] First of all, it should be noted that in the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", " The orientation or positional relationship indicated by "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplified descriptions, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a self-adaptive imitation software robot gripper, whichcomprises a base, a motor, finger units, a link mechanism, and soft rubber. Each finger unit is composed of 6 finger segment units,each finger unit can drive 6 finger segment units with only one motor, so that each finger segment unit can be attached to the surface of an object, obtains the flexible characteristic closeto a pneumatic softwaregripper, and can adapt to gripping of objects of various irregular shapes, the soft rubber arranged in the finger units can prevent the finger units from rigidly contacting with the objects, non-destructive gripping of fragile and easily worn objects is well achieved, and thus better simulation of the imitation software gripper can be achieved. Compared with the pneumatic software gripper, the self-adaptive imitation software robot gripper has the characteristics that control is more convenient and reliable, the structure is simpler, and the cost is lower.
Description
technical field [0001] The invention relates to the field of soft grippers, in particular to an adaptive imitation soft robot gripper. The finger segment units can be set to 7 or more than 8 segments, or a variety of finger segment units can be set according to the surface of the object to be operated by the gripper. Background technique [0002] The traditional mechanical gripper is composed of a rigid structure with a certain hardness, which is highly accurate and easy to control, but its shape can only adapt to specific external constraints and obstacles, and its flexibility is not high, and its adaptability is not strong. Chinese invention patent CN105583835B discloses a connecting rod closed-loop flexible flat clip adaptive robot finger device, including a base, a first finger end, a second finger end, a proximal joint axis, a distal joint axis and a driver; the device can both translate The second fingertip holds the object, and it can also adaptively envelope objects ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 王汝贵黄海波周宁琦刘良张航菲
Owner GUANGXI UNIV