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Flexible dexterous hand integrating negative pressure suction with bionic grabbing

A technology of dexterous hands and flexible fingers, which is applied in the field of flexible manipulators, can solve problems such as irregular shapes and difficult removal of tiny particles, and achieve the effect of ensuring safety

Active Publication Date: 2020-05-22
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned defects existing in the prior art, the inventors conducted in-depth research and designed a flexible dexterous hand integrating negative pressure suction and bionic grasping. The flexible dexterous hand is a fully flexible structure, effectively solving the problem of It solves the problem that the irregularly shaped excess and the tiny particle excess such as dust are not easy to remove, and can avoid collisions in a confined space

Method used

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  • Flexible dexterous hand integrating negative pressure suction with bionic grabbing
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  • Flexible dexterous hand integrating negative pressure suction with bionic grabbing

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Embodiment approach

[0031] According to the preferred embodiment of the present invention, the flexible composite driver 8 can be prepared according to the following process:

[0032] Firstly, the dielectric elastomer is stretched. Preferably, the dielectric elastomer is first made into a film and then stretched. For example, the film can be stretched to a certain ratio in the surrounding direction, such as 3-6 times;

[0033] Then, a flexible electrode is adhered to the surface of the stretched dielectric elastomer film. Preferably, a layer of flexible electrode is adhered to the upper and lower surfaces of the film. According to requirements, the flexible electrode can be made into a specific shape, such as a rectangle, a trapezoid, or a square. Waveform, such a flexible electrode is suitable for subsequent winding and crimping;

[0034] Finally, the dielectric elastomer film adhered or coated with a flexible electrode layer is shaped, for example, corresponding to the shape of a finger, wound and cri...

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Abstract

The invention discloses a flexible dexterous hand integrating negative pressure suction with bionic grabbing. The flexible dexterous hand comprises a flexible palm and flexible fingers arranged on theflexible palm. The flexible dexterous hand is of a full-flexible structure, effectively solves the problem that irregularly-shaped redundant objects and small-particle redundant objects such as dustare not prone to remove, and can carry out collision avoidance in a limited space.

Description

Technical field [0001] The invention relates to the field of flexible manipulators, in particular to a flexible dexterous hand that is suitable for space-constrained flexible suction and bionic grasping. Background technique [0002] In many confined spaces such as rockets, launch vehicles, airplanes, ships, and space stations, many dust and irregular features may be generated during assembly or overhaul, which are usually difficult to remove. [0003] Most of the flexible manipulators in the prior art have a rigid-flexible coupling structure. For example, a flexible drive manipulator disclosed in the patent (CN201710361139.2) uses a SMA (shape memory alloy) flexible transmission mechanism for only part of the joints and drive parts. The rest of the structure is a rigid structure, and the structure is more complex, can not grasp objects with small particles such as dust. [0004] For grabbing dust and irregular features, the flexible manipulators in the prior art generally can only ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/10B25J15/12B25J11/00B25J13/08B25J9/16
CPCB25J9/1612B25J11/0085B25J13/08B25J13/084B25J15/0023B25J15/0052B25J15/10B25J15/12
Inventor 赵良玉何泽鹏张雁王鹏飞刘安琪
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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