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A multi-degree-of-freedom pneumatic flexible manipulator

A degree of freedom, manipulator technology, applied in the field of robotics, can solve complex and precise operations, inability to obtain angle feedback, disadvantage and other problems, and achieve the effect of solving angle feedback

Active Publication Date: 2021-11-30
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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  • A multi-degree-of-freedom pneumatic flexible manipulator
  • A multi-degree-of-freedom pneumatic flexible manipulator
  • A multi-degree-of-freedom pneumatic flexible manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] The air passages I15 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 center of the circular base 3, which can realize the grasping operation of the object.

Embodiment 2

[0039] Airway I15 and airway 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 to the same side, which can realize clockwise rotation and grasping. Airway I15 and 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 to 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 structure wire 21, and the two inertial sensors can transmit their respective pitch angle, rotation angle and yaw angle information to the controller through the wire 19. And it is judged by the controller whether it reaches the specified angle. The controller can inflate and inhale the multi-degree-of-freedom pneumati...

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Abstract

The invention discloses a multi-degree-of-freedom pneumatic flexible manipulator. It includes a multi-degree-of-freedom flexible actuator, a circular base and a sealed base. The circular base is provided with three fixed ends at equal intervals along the circumference, and each fixed end has three trachea through holes and a wire placement hole. Each fixed end port It extends outward to form a flange, and the sealing base is embedded in the flange. Each fixed end is installed with a multi-degree-of-freedom flexible actuator through the sealing base. There are three air channels inside the multi-degree-of-freedom flexible actuator, and the middle of the three air channels There is a cylindrical cavity; the three air inlets of the sealed base are respectively inserted into the three air channels, and the cylindrical seat of the sealed base is inserted into the cylindrical cavity; the multi-degree-of-freedom flexible actuator is installed inside two connected by bending wires. inertial sensor. The invention has a compact structure, and when the multi-inflatable component is inflated, it can perform multi-degree-of-freedom bending operations at specified angles, and solves the problem that traditional pneumatic actuators cannot perform multi-degree-of-freedom operations 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, the manipulator's functions include object transportation, object processing, and object assembly. Traditional manipulators are rigid materials, which may cause damage to objects during operation. The flexible manipulator can grasp and operate 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 bend in one direction, and cannot perform more precise operations; and the existing pneumatic flexible actuators do not contain bending and pressure sensors to reflect the degree of bending and the difference between them. contact pressure. Therefore, a multi-degree-of-freedom pneumatic flexible manipulator including sensors ...

Claims

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Application Information

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Patent Type & Authority Patents(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