Novel soft mechanical hand capable of realizing vertical plane grabbing

A vertical plane, manipulator technology, used in manipulators, chucks, manufacturing tools, etc., can solve the problems of easy falling off, poor adaptability of irregular items, unstable grasping, etc., and achieve high grasping stability and contact area. Large, not easy to fall off effect

Inactive Publication Date: 2019-08-16
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large bend at the end of the actuator, when it comes into contact with the object to be grasped, the grasping contact surface is small, the grasping is unstable, and the grasping is easy to fall off
In addition, due to the influence of manufacturing errors, it is difficult for the two soft actuators to achieve symmetrical bending, and the grasping is easy to fall off
Moreover, poor adaptability to irregular objects affects the promotion and application of soft manipulators

Method used

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  • Novel soft mechanical hand capable of realizing vertical plane grabbing
  • Novel soft mechanical hand capable of realizing vertical plane grabbing
  • Novel soft mechanical hand capable of realizing vertical plane grabbing

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] The structural representation of the software actuator of the present invention is as follows: Figure 1-Figure 2 As shown, it includes a constrained layer 1 and a base 2 located on one side of the constrained layer 1, the base 2 includes a pneumatic bending module 2-1 and a grasping module 2-3, and the grasping module 2-3 is an air mesh type structure, when grabbing an item, the pneumatic bending module 2-1 is inflated, the grabbing module 2-3 is not inflated, and the pneumatic bending module 2-1 drives the grabbing module 2-3 to realize the vertical plane grab action. The base body 2 is a soft material, such as silicon rubber material.

[0031] In this embodiment, the pneumatic bending module 2-1 is connected to the grasping module 2-3 through a soft connection joint 2-2, wherein the soft connection joint 2-2 is used for connection...

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Abstract

The invention discloses a novel soft mechanical hand capable of realizing vertical plane grabbing, and aims to provide the novel soft mechanical hand capable of realizing vertical plane grabbing and improving the grabbing stability, a soft body actuator which can adapt to the use requirements of irregular articles and a soft mechanical hand composed of the soft body actuator. The soft mechanical hand comprises a clamp and at least two soft body actuators symmetrically installed on the clamp, the soft actuator comprises a restraint layer and a base body positioned on one side of the restraint layer, wherein the base body comprises a pneumatic bending module and a grabbing module, one end of the pneumatic bending module is fixedly connected with the clamp, the tail end of the grabbing moduleis a free end, the grabbing module is of an air mesh type structure, and the grabbing module is driven by the pneumatic bending module to enable the grabbing module to realize the grabbing action ofthe vertical plane. The soft mechanical hand provided can be used for grabbing objects in a vertical plane, the contact area between the grabbing module and the grabbing object is large, the grabbingstability is high, and the mechanical hand can adapt to the shape of an object and is beneficial to grabbing of irregular objects.

Description

technical field [0001] The invention relates to the technical field of soft robots, and more specifically, relates to a soft actuator capable of grasping vertical planes and a new soft manipulator composed of the same. Background technique [0002] Due to its advantages such as easy manufacture, low manufacturing cost, inherent flexibility, and safety, soft robots have developed rapidly and become an important branch of the robotics field. Soft robots have great application prospects in the fields of human-computer interaction, end grasping, narrow space operations, postoperative rehabilitation, and minimally invasive surgery. [0003] The end manipulation device of soft robots—soft manipulators play an important role in robot operations. Soft manipulators are made of soft materials, which have great advantages in grasping soft or fragile objects, and are developing rapidly. At present, the actuator components in soft manipulators—pneumatic soft actuators are divided into ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0023
Inventor 刘守锋王福军张冠伟赵鹏飞刘柱张伟田延岭
Owner TIANJIN UNIV
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