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Multi-degree-of-freedom pneumatic flexible manipulator

A degree of freedom, manipulator technology, applied in the field of robotics, can solve problems such as complex and precise operations, pneumatic flexible actuators do not contain angle sensors, and angle feedback cannot be obtained, so as to achieve the effect of solving angle feedback.

Active Publication Date: 2020-03-13
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, commonly used pneumatic flexible actuators do not contain angle sensors inside
The disadvantage of these pneumatic flexible actuators is that they cannot bend in multiple directions, and at the same time, they cannot get angle feedback, which is not conducive to complex and precise operations.

Method used

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  • Multi-degree-of-freedom pneumatic flexible manipulator
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  • Multi-degree-of-freedom pneumatic flexible manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Inflate the air passages I15 of the three multi-degree-of-freedom pneumatic flexible actuators 2 at the same time, and each multi-degree-of-freedom pneumatic flexible actuator 2 is bent toward the center of the circular base 3 to realize the grasping operation of the object.

Embodiment 2

[0039] The air passage I15 and the air passage II16 of the three multi-degree-of-freedom pneumatic flexible actuators 2 are inflated at the same time, and each multi-degree-of-freedom pneumatic flexible actuator 2 is bent toward the same side, which can realize clockwise rotation and grasping. The airway I15 and the airway III17 of the three multi-degree-of-freedom pneumatic flexible actuators 2 are inflated at the same time, and each multi-degree-of-freedom pneumatic flexible actuator 2 is bent toward the same side, which can realize counterclockwise rotation and grasping.

[0040] The two inertial sensors 22 of the multi-degree-of-freedom pneumatic flexible actuator 2 are connected by a curved wire 21, and the two inertial sensors can transmit the information of pitch angle, rotation angle and yaw angle to the controller through the wire 19, And the controller judges whether it reaches the specified angle. The controller can inflate and inhale the multi-degree-of-freedom pne...

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Abstract

The invention discloses a multi-degree-of-freedom pneumatic flexible manipulator. The manipulator comprises a multi-degree-of-freedom flexible actuator, a circular base and a sealing base, three fixedends are arranged on the circular base at equal intervals in the circumferential direction, each fixed end is provided with three air pipe through holes and a wire placing hole, a port of each fixedend extends outwards to form a flange, the sealing base is embedded in the flange, each fixed end is provided with the multi-degree-of-freedom flexible actuator through the sealing base, three air channels are arranged in the multi-degree-of-freedom flexible actuator, and a cylindrical cavity is formed among the three air channels; three air inlet channels of the sealing base are inserted into thethree air channels respectively, and the cylindrical base of the sealing base is inserted into the cylindrical cavity; and two inertial sensors connected through a bent wire are installed in the multi-degree-of-freedom flexible actuator. The manipulator is compact in structure, can perform multi-degree-of-freedom bending operation with a specified angle when a multi-inflation assembly is inflated, and solves the problem that a traditional pneumatic actuator cannot conduct multi-degree-of-freedom operation and angle feedback.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a multi-degree-of-freedom pneumatic flexible manipulator. Background technique [0002] As an actuator widely used in the field of industrial automation, manipulators include object transportation, object processing, and object assembly. Traditional manipulators are made of rigid materials, which may cause damage to objects during operation. The flexible manipulator can grasp and manipulate soft and fragile objects such as fruits and soft tissues. At present, the existing pneumatic flexible actuators only contain a single degree of freedom, that is, they can only be bent in one direction, and cannot perform more precise operations; moreover, the existing pneumatic flexible actuators do not contain bending and pressure sensors to reflect the degree of bending and contact pressure. Therefore, the multi-degree-of-freedom pneumatic flexible manipulator including sensors can perform precise op...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/12
CPCB25J15/0023B25J15/12
Inventor 彭玉鑫王健翔仲亮宋宪杨毅
Owner ZHEJIANG UNIV