Multi-material manipulator

A manipulator, multi-material technology, applied in the field of manipulators, can solve the problems of low rigidity of constituent materials, inability to withstand large loads or self-weight, etc., and achieve the effect of meeting strength requirements and low cost

Active Publication Date: 2019-12-03
重庆聿远机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the low stiffness of the constituent materials, none of the robots listed above can bear large loads or self-weight

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0041] Such as figure 1 As shown, a multi-material manipulator according to an embodiment of the present invention is provided. The multi-material manipulator A1 includes a soft material part A11 obtained by integral injection molding (the prior art) and a hard material part A12 obtained by a 3D method. The material part A12 is hollow, and the soft material matching A11 is arranged in the hollow of the hard material part A12.

[0042] In another embodiment, the soft material part A11 refers to a hollow rectangular tube made of silica gel; the hard material part A12 refers to a hollow hinge made of TPE.

[0043] Such as figure 2 with image 3 As shown, the steps to obtain the hard material part A12 through 3D are as follows:

[0044] S1: Initialization of the topology optimization problem: given the design domain, design variables and constraints of the hollow cuboid of the hard material part A12;

[0045] The initialization of the topology optimization problem is simplifi...

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Abstract

The invention provides a multi-material manipulator. The multi-material manipulator comprises a soft material part obtained in an integrated injection molding mode and a hard material part obtained ina 3D mode. The hard material part is hollow, the soft material is arranged in the hollow part of the hard material part in a matched mode, and the hard material part obtained in a 3D mode comprises the following steps that initialization of a topological optimization problem is conducted, specifically, a design domain, design variables and constraint conditions of a hollow cuboid of the hard material part are given; sensitivity analysis is carried out on the topological optimization problem; solving a topological optimization problem by adopting a fastest descent method and obtaining an optimization result; outputting an optimization result as an stl file; and importing the stl file into a 3D printer to finish machining of the hard material part. Compared with the prior art, the soft material part obtained in an integrated injection molding mode and the hard material part obtained in a 3D mode of the multi-material manipulator have the advantages of being sufficient in flexibility andrigidity, capable of meeting the strength requirement and low in cost.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a multi-material manipulator. Background technique [0002] Currently, artificial manipulators that imitate or replicate the movements of human fingers are mainly used in rehabilitation therapy, prosthetics or industrial robots. Over the past decade, researchers have designed and developed manipulators made of hard materials. These manipulators consist of mechanisms and kinematic pairs made of hard materials and are driven by single-degree-of-freedom motors. In order to imitate the bending movement of human fingers, we need at least three revolving joints, corresponding drives and sensors in hardware; we need an attached control algorithm to complete the cooperation between kinematic joints in software. However, due to the high processing and control costs, the application of robots composed of hard materials is limited. In addition, safety is also a very important factor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B25J15/00B25J15/10
CPCB25J15/10B25J15/0009
Inventor 张红影
Owner 重庆聿远机器人科技有限公司
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