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A bionic soft manipulator with large load based on vacuum drive

A drive and large load technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of low drive shrinkage, slow research progress, weak load capacity, etc., to achieve large gripping force, good stability, and load powerful effect

Active Publication Date: 2021-04-13
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among the three driving methods, fluid drive is currently the most widely used, but there are some shortcomings in current fluid drive devices that need to be resolved: 1. The stiffness of the positive pressure driven soft manipulator increases with the increase of internal air pressure, and its compliance gradually decreases; 2. The shrinkage rate of positive pressure actuators is generally low, such as the shrinkage rate of artificial muscles is generally lower than 38%. The progress of this research is slow, and it is very difficult to greatly increase the load capacity

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  • A bionic soft manipulator with large load based on vacuum drive
  • A bionic soft manipulator with large load based on vacuum drive
  • A bionic soft manipulator with large load based on vacuum drive

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Embodiment Construction

[0023] The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] In the following description, a lot of specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, and those skilled in the art can do it without departing from the meaning of the present invention. By analogy, the present invention is therefore not limited to the specific examples disclosed below.

[0025] in such as figu...

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Abstract

The invention discloses a bionic soft large-load manipulator based on a vacuum driver, which belongs to robot end effectors. The invention imitates animals with winding behavior in nature, such as pythons and octopuses, and uses vacuum soft actuators to equivalently replace the contraction behavior of winding animal bodies, and improves the load capacity of the soft manipulator from the perspective of optimizing the structural layout of the soft actuators. The basic construction principle of the present invention is to arrange the vacuum soft driver in a helical shape through the flexible cage, and tighten the object through the contraction of the vacuum soft driver to achieve the purpose of grasping.

Description

technical field [0001] The invention relates to a bionic soft large-load manipulator based on a vacuum driver, belonging to robot end effectors. Background technique [0002] The gripping device at the end of the robot is a very important part of the robot structure. The traditional gripping device at the end of the robot is generally a rigid structure. damage to objects. In recent years, flexible gripping devices have attracted people's attention. With their advantages of safety, flexibility and softness, they have been widely used in medical robots, cultural relics and archaeological excavations, disaster rescue and service robots, etc. From the driving mode, gripping devices can be divided into: tendon-driven, fluid-driven and functional material-driven. The tendon driving method has good performance, fast movement, and accurate positioning, but the rigidity is generally too large; the fluid driving method has good flexibility, strong adaptability, light weight, and has...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/14B25J15/00
CPCB25J9/142B25J15/0023
Inventor 姚建涛李海利赵无眠张帅魏纯杰王亚蒙许允斗赵永生
Owner YANSHAN UNIV