Novel soft mechanical hand capable of realizing vertical plane grabbing

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 ...

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

Images