Multifunctional soft finger realizing stiffness changing through line driving

Abstract

The invention discloses a multifunctional soft finger realizing stiffness changing through line driving. The multifunctional soft finger comprises a base, a clamp, a motor, a tendon rope and a soft finger body; at least one groove facilitating bending of the soft finger body is formed in one side of the soft finger body in the length direction of the soft finger body, an accommodating cavity is formed in the other side of the soft finger body in the length direction of the soft finger body, a medium for stiffness adjustment is contained in the accommodating cavity, the lower end of the mediumis assembled to the clamp arranged on the base, and the accommodating cavity is sealed through a filler; the tendon rope is in driving fit with the motor arranged on the base, meanwhile, the tendon rope is arranged on the soft finger body in a matched mode, and when the motor rotates, the soft finger body can be driven to bend by winding the tendon rope; and the two ends of the clamp are assembledin shaft holes of side plates at the two ends of the base through a rotating shaft, the lower end of the clamp is an arc convex surface facilitating rotation of the clamp by a certain angle, and a torsion spring used for limiting rotation of the clamp is arranged between the clamp and the base. The soft finger has the advantages that the object grabbing is firm, the grabbing mode is diverse, thesimple and controllable effect is achieved, and the soft finger is suitable for space grabbing operation.

Description

Technical field [0001] The invention relates to the technical field of soft robots, in particular to a multifunctional soft finger with linear drive variable stiffness. Background technique [0002] Traditional rigid robots can no longer meet people's requirements for the safety of human-computer interaction, and soft robots have emerged. The soft robot body uses soft materials, which are generally considered to be materials with a Young's modulus lower than that of human muscles, which can adapt to various unstructured environments and have broad application prospects. [0003] The end effector is an important component of the robot, and it is the direct contact unit that completes various operational tasks. Its development determines the speed of the robot's development to a certain extent. While the traditional rigid and dexterous hands are constantly being developed, the exploration of the soft hands is also in full swing. The driving of the soft hand is currently more mature...

AI Technical Summary

Problems solved by technology

At present, the drive of soft hand is relatively mature by using gas drive. By inflating the air cavity of the soft hand, it expands in one direction so that the fingers can be bent to grab objects. It has the characteristics of good flexibility and strong adaptability to objects, but the grasping force is insufficient. , Inaccurate control and other issues limit its application scenarios

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