Similar round stepped type soft hand paw

Abstract

The invention belongs to the technical field of soft robots and relates to a similar round stepped type soft hand paw. The soft hand paw comprises soft actuators, a base seat and an air source distributor, wherein the base seat comprises a mechanical arm connection part, a hand paw base body, a hand paw support connection part and finger buckling plates, the soft actuators adopt an integrated typeparabolic design, the deformation principle is the pneumatic network principle, and the stress concentration problem and the overhead phenomenon universally existing in the soft actuators can be effectively solved. According to the similar round stepped type soft hand paw, by means of pressure intensity applying on the inner portions of the soft actuators, bending deformation of the soft actuators can be realized; and by means of changing of the internal pressure intensity magnitude of the soft actuators, envelope grabbing of an object to be grabbed can be realized. The similar round steppedtype soft hand paw can adapt to unstructured working environments more comprehensively and effectively and can be quite well applied in the field of flexible grabbing.

Description

technical field [0001] The invention belongs to the technical field of soft robots and relates to a kind of circular stepped soft gripper. Background technique [0002] With the development of intelligent robot technology, new requirements are put forward for the integration of robots. With its advantages of high flexibility, strong flexibility and high safety, soft actuators provide new ideas for the design of modern intelligent and service robots. Among them, the pneumatic network type soft actuator is widely used by researchers because of its advantages of simple preparation and stable structure. [0003] The patent "An Articulated Endoskeleton Pneumatic Software" (CN 109048980 A) is a typical pneumatic network structure, which is simple in structure and easy to manufacture, but there are certain problems: first, there is a problem of stress concentration on the wall of the air chamber. Due to the excessive deformation of the air cavity wall during the pressurization pr...

AI Technical Summary

Problems solved by technology

[0003] The patent "An Articulated Endoskeleton Pneumatic Software" (CN 109048980 A) is a typical pneumatic network structure, which is simple in structure and easy to manufacture, but there are also certain problems: first, there is a problem of stress concentration on the wall of the air chamber

When grabbing objects, the applied clamping force is easily concentrated at the end of the actuator, and other parts are overhead, which will not only greatly reduce the rated load of the clamping device, but also reduce the stability of clamping , leading to a reduction in the gripping performance of the gripping device

In response to the above problems, the patent "Adaptive Software Gripper" (CN 108555958 A) adopts a split ladder structure, which can improve the envelope of the gripper to be grasped, but there are problems such as stress concentration at the sharp point; the patent "A Pneumatic Three-Finger Flexible Gripper" (CN 207027549 U) uses a circular arc structure in the inner cavity, but the bending curve cannot achieve the desired effect due to the disconnection of the air chamber

Existing solutions have solved the existing problems to varying degrees, but there is still room for improvement

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