Soft finger with friction force being adjustable online

A technology of friction and software, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of easy falling off, unstable grasping, constant friction, etc., to achieve unstable grasping, simple structure, easy production easy effect

Inactive Publication Date: 2020-06-30
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the grasping task, the friction force generated needs to be large enough to effectively avoid problems such as unstable grasping and easy falling off of the grasping
However, the existing soft fingers have constant friction and cannot meet the requirements of different tasks

Method used

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  • Soft finger with friction force being adjustable online
  • Soft finger with friction force being adjustable online
  • Soft finger with friction force being adjustable online

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] The structure diagram of the online adjustable soft finger of the present invention is as follows: Figure 1-Figure 3 As shown, it includes a substrate and a variable-friction actuator module 5, and the variable-friction actuator module 5 is provided on the side of the substrate that is in contact with the object. The variable friction actuator module 5 includes an elastic film 5-4, at least one air cavity 5-2 is sealed between the elastic film 5-4 and the substrate; the gas entering the air cavity 5-2 drives The elastic membrane 5-4 is deformed. Adjusting the pressure of the gas controls the degree of deformation of the elastic membrane 5-4 to achieve online adjustment of the friction force. The base body includes a soft actuator 1, and the soft actuator 1 includes a fingertip actuator module 1-3, a finger middle actuator module 1-2...

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PUM

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Abstract

The invention discloses a soft finger with friction force being adjustable online, and aims at providing a soft finger with friction force being adjustable online and capable of achieving multiple grabbing manners. A variable friction execution module is arranged on the side, in contact with an object, of a matrix. The variable friction execution module comprises an elastic film, and at least onegas cavity is arranged between the elastic film and the matrix in a sealed manner. Gas entering the gas cavities drives the elastic film to generate deformation, and the gas pressure is adjusted to control the deformation degree of the elastic film so as to achieve online adjusting of friction force. The matrix comprises a soft executer. The soft executer comprises a fingertip execution module, afinger middle execution module and a finger root execution module, and independent gas net structures are arranged in the fingertip execution module, the finger middle execution module and the fingerroot execution module. By means of the soft finger, the contact force of the soft finger and the grabbed object is changed, online adjusting of the grabbing friction force is achieved, and multiple grabbing manners are achieved by controlling the inflation sequence of the execution modules.

Description

technical field [0001] The invention relates to the technical field of soft robots, and more specifically relates to a soft finger with online adjustable friction force. Background technique [0002] As a branch of soft robotics, soft manipulators have developed rapidly in recent years. [0003] At present, soft manipulators mainly have several driving methods such as wired type, pneumatic type, and shape memory material driven type. Among them, the power source of the pneumatic soft manipulator is high-pressure gas. Compared with other driving forms, the pneumatic drive has the characteristics of easy access to gas source, low cost, and environmental friendliness, and has become the most popular soft manipulator at present. [0004] Most of the fingers of the existing pneumatic soft manipulators are an integral air mesh structure, and the multiple air cavities that make up the soft fingers are driven by the same air source to inflate at the same time, which makes the bendi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/12B25J15/00
CPCB25J15/12B25J15/0009
Inventor 刘柱王福军张大卫张伟林旺江陈闫伟石锐田延岭
Owner TIANJIN UNIV
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