A 4D printing-based soft joint gripper and its consistency control method

Abstract

The invention relates to a 4D printing-based soft joint paw and a consistency control method thereof. The soft joint paw based on 4D printing includes: a palm and five soft finger units connected to the palm; each of the soft finger units has two soft knuckles and two phalanges; the phalanges Made of 3D printing resin; the soft knuckles are two symmetrical double-layer film soft knuckle actuators; the double-layer film soft knuckle actuators are made of 4D printed liquid crystal elastomer and polyimide electric heating film Thus, electrification or heating stimulation changes the bending angle of each of the double-layer thin-film soft knuckle actuators; the double-layer thin-film soft knuckle actuators are used to control the soft finger unit to perform reversible bending motions. By adopting the 4D printing-based soft-joint claw and its consistency control method provided by the present invention, precise control of the soft-joint claw can be realized.

Description

technical field [0001] The invention relates to the field of soft robot control, in particular to a 4D printing-based soft-joint hand claw and a consistency control method thereof. Background technique [0002] Both traditional manipulators and pneumatic hands are composed of complex component structures, which have large weight, volume and energy consumption. Because of its adaptability, light weight, and flexibility that are superior to traditional rigid robots, soft robots can change their shape and size arbitrarily in a wide range, and continue to expand the research field of robots. [0003] The initial stage of soft robot technology is pneumatic drive technology. With the advancement of science and technology, smart materials and structures have gradually been applied to many research fields. At present, intelligent material drive technology is a new research direction of soft robots, and intelligent material drive technology belongs to the connotation of the concept ...

AI Technical Summary

Problems solved by technology

[0005] After searching the existing patents, the Chinese patent application number is: CN107139207A, and the name is: a pneumatic soft finger, a soft finger control system and a control method, which discloses a pneumatic soft finger, a soft finger control system and a control method, The soft finger includes an air cavity driving and sensing part, so as to measure the bending angle of the finger to realize the closed-loop control of the finger, but the control system of the invention is complicated, and no precise control algorithm is used. Compared with 4D printing, the pneumatic drive intelligently drives the weight of the material. There is no advantage in size

The Chinese patent application number is: CN110340933 and the name is: a smart bionic grasping and clamping device based on 4D printing. This invention discloses a smart bionic grasping and clamping device based on 4D printing. The bionic grasping and clamping device controls the bending degree through the temperature adjustment mechanism, but this invention has no detection and information transmission device, and can only realize simple bending behavior, and the single bending and clamping device has infinite degrees of freedom, and does not realize precise control

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