Multi-degree-of-freedom pneumatic software manipulator with accurate positioning function

Abstract

The invention discloses a multi-degree-of-freedom pneumatic software manipulator with an accurate positioning function. The multi-degree-of-freedom pneumatic software manipulator with the accurate positioning function comprises a pneumatic guide rail, pneumatic slide blocks, detection units and control units, wherein the pneumatic guide rail comprises a plurality of pneumatic guide rail bodies evenly distributed in the same circumference, and one ends of the pneumatic guide rail bodies are connected with a pneumatic device; the pneumatic slide blocks comprise soft actuators and connecting blocks, the soft actuators are slidably connected to the pneumatic guide rail bodies and comprise soft actuator bodies, adaptive elements, variable stiffness elements and bending elements; the detection units are mounted on the pneumatic slide blocks and are used for detecting the air pressure, moving distance and external environment of the pneumatic slide blocks; and the control units are connectedwith the detection units and the pneumatic slide blocks. The multi-degree-of-freedom pneumatic software manipulator with the accurate positioning function can increase the contact area between the soft actuator bodies and a caught object, the stability of grabbing is improved, the stiffness and bending degree of the soft actuator bodies are further improved, and grasping some hard and heavy objects is facilitated.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a multi-degree-of-freedom pneumatic soft manipulator with an accurate positioning function. Background technique [0002] Traditional robots are mostly made of rigid materials with little elastic deformation and almost no elastic deformation ability. These rigid robots are often used in occasions with a high degree of specialization and precision, and it is difficult for them to show a high degree of deformation adaptability to different situations. In some special fields, the requirements for robots are becoming more and more stringent, such as grasping industrial fragile products, complex terrain exploration and narrow space operations, etc. [0003] Because soft robots are easy to manufacture, low in cost, have large deformations, and can adapt to various complex environments, soft robots have become an indispensable part of the robotics field. [0004] The soft manipula...

AI Technical Summary

Problems solved by technology

However, the bending degree of the soft end effector is relatively large, and the contact area between the end and the object is small, which often makes the grasping unstable and easy to fall off

The existing soft manipulators have a fixed grasping range, low grasping force and poor adaptability to grasping irregular objects. These problems have affected the popularization and application of soft manipulators.

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