A kind of circular stepped soft gripper

Abstract

The invention belongs to the technical field of soft robots and relates to a kind of circular stepped soft gripper. The soft gripper includes a soft actuator, a base and an air source distributor; the base includes a mechanical arm connector, a gripper base, a gripper bracket connector and a finger pinch; the soft actuator adopts an integrated parabolic design, and the deformation The principle is the principle of pneumatic network, which can effectively improve the common stress concentration and overhead phenomenon of soft actuators. By applying pressure inside the soft actuator, the bending deformation of the soft actuator can be realized; by changing the internal pressure of the soft actuator, the envelope grasping of the object to be grasped can be realized. The soft gripper of the present invention can more comprehensively and effectively adapt to the unstructured working environment, and can be well applied in the field of flexible grasping.

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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