Electrostatic adsorption pneumatic soft gripper

Abstract

The invention discloses an electrostatic adsorption pneumatic soft gripper. The gripper is designed as a centrosymmetric three-finger flexible structure body and comprises a gripper support, a soft gripper body, a restraining layer, an air duct, an air passage, an electrostatic adsorption membrane and an outer auxiliary device; the gripper support is connected with the soft gripper body and the outer auxiliary device for fixing the positions of the soft gripper body and the outer auxiliary device; the soft gripper body is flattened in a free state; the air passage is inflated deflated by the outside so as to drive the soft gripper to contract and stretch, and thus target objects are gripped; and the electrostatic adsorption membrane is attached to the gripping surface of the soft gripper body for generating electrostatic adsorption force. The soft pneumatic manipulator which clamps objects in various complicated shapes through electrostatic adsorption force and flexible mechanical clamping force is designed, and the problems such as wrapping gripping and plane object gripping are solved, and the objects in various complicated shapes are gripped.

Description

technical field [0001] The invention relates to the field of soft grippers, in particular to an electrostatic adsorption pneumatic soft gripper, which controls the closure and extension of the soft gripper by inflating or deflating the air to realize the grasping of a target object. Background technique [0002] Mechanical devices that imitate the function and shape of human hands, such as traditional rigid manipulators and dexterous hands, have been widely used in human social life and production. Among them, manipulators are often responsible for structural, repetitive, cumbersome, and dangerous work in industrial sites; while dexterous hands are mainly reflected in having more degrees of freedom and precise force-position control. With the development of society, people have put forward new requirements for humanoid hand mechanical devices in many fields, such as in the sorting of surface fragile objects (fruits, vegetables and biological tissues, etc.), in the medical re...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the object of the present invention is to design a soft pneumatic manipulator that clamps objects of various complex shapes with electrostatic adsorption force and flexible mechanical clamping force, so as to solve the problems of cladding grabbing objects and plane object grabbing, etc. Realize the improvement of the target object grasping diversity of the end effector, expand the application range of the software gripper, and make it more versatile, more tolerant, and more flexible

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