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Software gripper with catapulting and grabbing functions and 3D printing preparation method thereof
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A 3D printing and software technology, applied to 3D object support structures, manipulators, manufacturing tools, etc., can solve the problems of high cost, slow response, and slow grasping speed, and achieve low cost, fast ejection and grasping speed, and grasping fast effect
Active Publication Date: 2019-08-09
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
[0004] However, the current software grippers have deficiencies such as response, slow gripping speed, and high cost.
Method used
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[0048] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:
[0049] (1) Use 3D printing to prepare a mold including clamping parts and motion control parts;
[0050] (2) Fix the support rods, blocking parts and magnetic blocks in the mold, pour silicone rubber (ecoflex) into the mold, bake the mold at 40°C-60°C for 5h-7h, and then place it at room temperature for 5h-7h , get the clamping part and the motion control part;
[0051] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.
[0052]When the material of the clamping part is photocurable resin, a mold containing the clamping part and the motion control part is prepared by using photosensitive resin selective curing (StereoLithography Apparatus).
[0053] When the material of the clamping part is nylon, a mold containing the clamping part and ...
Embodiment 1
[0056] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:
[0057] (1) When the material of the clamping part is photocurable resin, the mold containing the clamping part and the motion control part is prepared by selective curing of the photosensitive resin;
[0058] (2) Fix the support rod, the blocking part and the magnetic block in the mold, pour silicone rubber into the mold, bake the mold at 40°C for 7 hours, and then place it at room temperature for 5 hours to obtain the clamping part and the motion control part;
[0059] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.
Embodiment 2
[0061] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:
[0062] (1) When the material of the clamping part is nylon, use fused deposition molding to prepare a mold containing the clamping part and the motion control part;
[0063] (2) Fix the support rod, the blocking part and the magnetic block in the mold, pour silicone rubber into the mold, bake the mold at 60°C for 5 hours, and then place it at room temperature for 7 hours to obtain the clamping part and the motion control part;
[0064] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.
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Abstract
The invention discloses a software gripper with catapulting and grabbing functions and a 3D printing preparation method thereof, and belongs to the field of softwaregrippers. The software gripper with the catapulting and grabbing functions comprises a grabbing part, a clamping part, an electromagnet coil and a motion control part, one end of the clamping part is connected with the grabbing part,the other end of the clamping part is connected with the motion control part, and the electromagnet coil winds on the periphery of the motion control part; the shape of the grabbing part is a C shape,and the grabbing part is used for grabbing a target; the electromagnet coil is used for generating pushing force on the motion control part during energized; and the motion control part is used for driving the grabbing part to move through the clamping part, and catapulting and pullback motion are realized. The software gripper with the catapulting and grabbing functions realizes the process of rapid catapulting-grabbing-pullback, and has the advantages of high response speed, high grabbing speed, low cost, compact structure, small energy consumption and being capable of automatic response.
Description
technical field [0001] The invention belongs to the field of soft grippers, and more specifically relates to a soft gripper with ejection and grabbing functions and a 3D printing preparation method thereof. Background technique [0002] Soft grippers belong to the field of soft robots. They are mainly made of soft materials, which are generally considered to be materials with a Young’s modulus lower than that of human muscles. Compared with traditional rigid grippers, soft grippers have better deformation, flexibility and grip It has great advantages in the range of objects, can adapt to various unstructured environments, and interacts with humans more safely. At present, it is mainly driven by electric field, pressure, magnetic field, chemical reaction, light, temperature, etc. [0003] Flexible electromagnetic materials are usually a composite materialsystem composed of three (polymer / electric / magnetic) or more than three materials. This type of material can sense enviro...
Claims
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Application Information
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