Non-Newtonian fluid pneumatic soft touch hand and forming method thereof

Abstract

The invention discloses a non-Newtonian fluid pneumatic soft touch hand and a forming method thereof. The non-Newtonian fluid pneumatic soft touch hand is composed of a touch hand and a chassis assembly, wherein the upper part of the touch hand is equipped with a strain-layer actuating cavity of a concave-convex structure, the middle part of the touch hand is equipped with a strain limiting layer,the lower part of the touch hand is equipped with a cuboid damping cavity with a separating plate, a gas cavity is arranged between the upper part and the middle part, and non-Newtonian fluid is arranged between the middle part and the lower part; when gas pressure is inflated into the actuating cavity, strain of the middle strain limiting layer part is smaller than that of an upper part actuating cavity unit, and therefore, the touch hand is laterally bent towards the strain limiting layer; and meanwhile, a lower part damping cavity unit is driven to bent, so that non-Newtonian fluid sealedin the damping cavity unit bears shearing stress. Viscosity of the non-Newtonian fluid generates changes along with a shearing rate, so that damping is generated, and therefore, an unstable phenomenongenerated in a bending process of the touch hand bearingexternal disturbance is eliminated. Moreover, stable control can be performed in a complex environment, so that target action is effectively accomplished.

Description

technical field [0001] The invention relates to the technical field of pneumatic soft manipulators, in particular to a non-Newtonian fluid pneumatic soft manipulator and a forming method thereof. Background technique [0002] With the continuous development of industrial automation, the manipulator is an extremely important device in automation equipment, and its diversity is also constantly developing. At present, pneumatic soft manipulators have become a hot research topic in the industry. The pneumatic software manipulator is not only simple in structure and low in price, but also has good flexibility and almost no damage to the grasping target. However, at present, pneumatic soft manipulators are mostly used in environments with relatively good environments because they are powered by pneumatic power and have a soft structure. The stiffness of most pneumatic soft tentacles cannot be controlled during the working process. In the process of grasping the target, if there...

AI Technical Summary

Problems solved by technology

The stiffness of most pneumatic soft tentacles cannot be controlled during the working process

In the process of grabbing the target, if there is an external emergency and the tentacles are greatly disturbed by the outside world, it is difficult to guarantee its own stability.

In some relatively harsh environments and complex situations, it is still difficult for pneumatic software manipulators to maintain stable control

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