Polypod-simulated pneumatic soft body underwater grasping robot

Abstract

The invention discloses a polypod-simulated pneumatic soft body underwater grasping robot. The polypod-simulated pneumatic soft body underwater grasping robot comprises a front portion, a middle portion and a rear portion, wherein the rear portion and the front portion are of the same structure, the rear portion is connected with the front portion through a connection frame, the front portion is of bilateral symmetry structure, the front portion comprises a large soft body bending driver, a small soft body bending driver, a top pressing cover, a bottom pressing cover and a pressing sheet, a first end of the large soft body bending driver is provided with two lug holders which are bilaterally symmetrical, a slotted hole is formed in the center of each lug holder, a second end of the large soft body bending driver is provided with a U-shaped flange, the middle of the large soft body bending driver is of a comb structure, a comb-shaped inner cavity is formed in the comb structure, a folded rectangular air bag is embedded in the inner cavity, the rectangular air bag is formed by laminating four layers of films, the two inner layers of the rectangular air bag are plastic films having airtightness, the two outer layers of the rectangular air bag are fiber layers having a reinforcement property, a first end of the rectangular air bag is connected with an air pipe, and a first end of the small soft body bending driver is of a square pyramid solid structure.

Description

technical field [0001] The invention relates to a soft grasping robot, more specifically, the invention relates to a pneumatic soft underwater grasping robot imitating a myriad animal. Background technique [0002] Soft robots are composed of flexible and soft materials, which can change their shape and size in a wide range. Compared with rigid robots, they have superior flexibility, adaptability, and unstructured environment operation capabilities. The realization of soft interaction with the surrounding environment occupies an important position in the field of robotics research. Among the many soft robots, soft gripping robots and soft manipulators have a high influence, among which soft gripping robots are the first to be commercialized. The German FESTO company has successively launched a variety of new products such as MultiChoiceGripper and FlexShapeGripper, and the domestic Beijing Soft Robot Technology Co., Ltd. has also launched the SFG series of flexible grippers...

AI Technical Summary

Problems solved by technology

At present, the load force of software grasping robots is generally small, which seriously limits its application objects and hinders the expansion of its application fields.

At present, the focus of research on soft gripping robots is mainly on improving the output force of soft actuators. However, due to the inherent properties of soft materials and the limitations of complex structure strengthening technology, it is difficult to greatly increase the output force of soft actuators. The method and theory of greatly improving the load force of the gripping robot are facing difficult challenges

In addition, most of the current software grasping robots are only suitable for ground operations and only have the grasping function. Facing the grasping tasks in complex environments such as underwater, there is an urgent need for new software grasping robots with movement and grasping functions.

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