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Variable stiffness cavity dividing soft manipulator using paper folding mechanism

A manipulator and variable stiffness technology, applied in the field of robotics, can solve the problems of finger bending angle, small bending range, poor grasping stability, large reaction force, etc., and achieve the effects of simple driving control, large grasping force, and low cost.

Active Publication Date: 2019-08-20
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of this structure are: the internal reaction force of the material is very large; from a macro point of view, the soft finger has a small grasping force on the object, poor rigidity, and poor grasping stability; the bending angle and bending range of the whole finger are relatively large. Small

Method used

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  • Variable stiffness cavity dividing soft manipulator using paper folding mechanism
  • Variable stiffness cavity dividing soft manipulator using paper folding mechanism
  • Variable stiffness cavity dividing soft manipulator using paper folding mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Embodiment 1: Soft finger

[0030] The schematic diagram of the soft finger of the present invention is as figure 1 As shown, at least one set of pneumatic bending modules 1 and origami connection mechanism 2 are included. Each of the origami connecting mechanisms 2 includes an origami telescopic module 2-2 and two connectors 2-1, 2-3, and the two connectors 2-1, 2-3 are respectively connected to the origami The two ends of telescopic module 2-2. The function of the connector is to realize the transitional connection between the pneumatic bending module and the origami telescopic module or other supporting mechanisms. The number of pneumatic bending modules 1 is determined according to the size of the items to be grasped, and can be 1-3. Correspondingly, the number of origami connection mechanisms 2 is equal to the number of pneumatic bending modules 1 . When there is one pneumatic bending module 1, the connecting piece 2-3 at one end is connected to the pneumatic b...

Embodiment 2

[0035] Embodiment 2: soft body hand

[0036] The structural schematic diagram of the variable stiffness sub-cavity soft manipulator applying the origami mechanism of the present invention is as follows Figure 6 As shown, it includes a base 3, a support mechanism 4 and soft fingers. Wherein, the part of the soft finger is the same as that in Embodiment 1, and the number of the soft finger is determined according to the needs of use, and can be 1-5. For a schematic illustration of a soft finger, see Figure 1-Figure 5 As shown, the soft finger includes at least one set of pneumatic bending modules 1 and an origami connection mechanism 2 . Each of the origami connecting mechanisms 2 includes an origami telescopic module 2-2 and two connectors 2-1, 2-3, and the two connectors 2-1, 2-3 are installed on the origami respectively. The two ends of telescopic module 2-2. When there is one pneumatic bending module 1 , the connecting piece 2 - 3 at one end is connected to the pneumat...

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Abstract

The invention discloses a variable stiffness cavity dividing soft manipulator using a paper folding mechanism, and aims at providing a soft hand adopting a paper folding connection method and having high flexibility and good grasping stability. A soft finger forming the soft hand of the invention comprises at least one group of pneumatic bending modules and a paper folding type connecting mechanism, wherein each paper folding type connecting mechanism comprises a paper folding telescopic module and two connectors; the two connectors are respectively connected with the two ends of the paper folding type telescopic module, and the connector at one end is connected with the pneumatic bending modules; the connector at the other end is connected with the adjacent pneumatic bending module or a support mechanism; a reset leaf spring is installed between each connector and the paper folding type telescopic module, and the reset leaf spring is used for providing a restoring force to the corresponding connector and the paper folding type telescopic module during bending. The soft hand provided by the invention has light weight, the large degree of freedom, good flexibility and cushioning andshock absorbing capability; and meanwhile, the hand body has the characteristics of being able to change stiffness with the rigidity of a grasped object, and has large gripping force and improved gripping stability.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically, relates to a variable-stiffness segmented-cavity soft manipulator using an origami mechanism. Background technique [0002] With the continuous advancement of technology, robots are gradually replacing manual operations to complete various operations. In order to adapt to the needs of specific fields, soft robots emerged as the times require. At present, it is widely used in the grasping of fragile objects, soft objects, objects with complex shapes, etc., as well as medical rehabilitation and other fields. [0003] At present, the soft hand used to complete the grasping action is mainly a pneumatic multi-chamber structure. By inflating the gas chamber, the soft hand is bent in a certain direction as a whole, and the grasping action is realized through the cooperation of two soft hands. Although this kind of soft hand has the advantages of good flexibility, many degrees of ...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J9/08
CPCB25J15/12B25J9/08
Inventor 闫奕辰王福军贺海成郑双杰刘守锋田延岭
Owner TIANJIN UNIV
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