Flexible multi-finger multi-degree-of-freedom micro gripper

Abstract

The invention relates to a flexible multi-finger multi-degree-of-freedom micro gripper which comprises a supporting assembly, a driving assembly and a plurality of clamping arms, wherein the supporting assembly comprises a chassis, a central shaft, a plurality of rotatable beams and a rotatable disc; the central shaft is arranged on the chassis; the rotatable beams are arranged above the chassis in a suspension manner and connected with the central shaft; the rotatable disc is arranged at the tops of the rotatable beams; the driving assembly comprises a plurality of first V-shaped drivers, a plurality of second V-shaped drivers and a plurality of three-dimensional U-shaped drivers; the first V-shaped drivers are positioned on the chassis and connected with the rotatable beams; the second V-shaped drivers are positioned on the rotatable disc; the three-dimensional U-shaped drivers are positioned at the tops of the second V-shaped drivers; and the clamping arms are positioned at the topsof the three-dimensional U-shaped drivers. Compared with the prior art, the flexible multi-finger multi-degree-of-freedom micro gripper has the advantages that the operation in a three-dimensional space can be performed; the clamping range and the clamping distance are greatly extended; the driving structure is novel; the driving mode is simple; and the application to the microoperation fields ofcell operation and the like can be achieved.

Description

technical field [0001] The invention belongs to the technical field of micro-operation, and in particular relates to a flexible multi-finger multi-degree-of-freedom micro gripper. Background technique [0002] At present, artificial insemination, cloning, genetic engineering, and drug development all rely on the precise manipulation of biological cells. The technical level of cell micromanipulation directly determines the sophistication and success of relevant scientific research and clinical applications. In recent years, in terms of micro-technology, technologies such as micro-grippers, micro-mechanical parts, micro-pumps, micro-motor systems, and micro-drives have been extensively researched and paid attention to by scholars at home and abroad. Among them, the micro-gripper plays an important role in the picking, handling and release of micro-objects. However, most of the current micro-gripper tools can only realize the simple clamping operation of two fingers and one deg...

AI Technical Summary

Problems solved by technology

Among them, the micro-gripper plays an important role in the picking, handling and release of micro-objects. However, most of the current micro-gripper tools can only realize the simple clamping operation of two fingers and one degree of freedom in the plane, and cannot realize multiple Finger and multi-degree-of-freedom flexible micro-manipulation severely restricts the development of scientific research and clinical applications in related fields such as biology and medicine.

[0003] At present, many scholars have studied electrothermally driven microgrippers, but these electrothermally driven microgrippers only drive the clamping arm through a single planar U-shaped driver or a single V-shaped driver, which belongs to the in-plane operation. , can only realize the most basic simple clamping function, and cannot realize various and flexible micromanipulation

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