Soft finger capable of realizing segmented bending by utilizing giant electrorheological fluid

Abstract

The invention belongs to the related technical field of soft robots, and discloses a soft finger capable of realizing segmented bending by utilizing giant electrorheological fluid. The soft finger comprises a corrugated pipe, a restraint layer and a plurality of variable stiffness layers; the corrugated pipe forms a first side surface; the restraint layer is arranged on the first side surface; theplurality of variable stiffness layers are arranged on the restraint layer at intervals in the length direction of the corrugated pipe; each of the variable stiffness layers comprises an insulating cavity body, and a positive electrode plate, a negative electrode plate and a giant electrorheological fluid layer which are accommodated in the insulating cavity body; the insulating cavity is filledwith the giant electrorheological fluid layer, the rigidity of the giant electrorheological fluid layer is changed by applying an electric field to the giant electrorheological fluid layer, then the stiffness of the corresponding variable stiffness layer is adjusted, and adjustment of the stiffness of the soft finger is achieved. The stiffness change of each knuckle is realized by controlling theon-off of an external electric field of each knuckle variable stiffness layer of the soft finger, so that various different configurations of the finger are realized, and the soft finger is suitable for various different application scenes.

Description

technical field [0001] The invention belongs to the technical field related to soft robots, and more specifically relates to a soft finger that uses giant electrorheological fluid to realize segmental bending. Background technique [0002] In recent years, soft robot technology has developed rapidly along with material science. Different from robots composed of rigid parts in the traditional sense, soft robot bodies are made of flexible materials. This new type of soft robot can adapt to various unstructured The environment is subject to greater strain, and it is safer to interact with humans. Soft robots have overcome the problems of poor compliance and unsafe human-computer interaction of traditional robots. They have many applications in medical robots, wearable robots, complex environment search and other fields, and their development prospects are very optimistic. [0003] For the end-effector software hand of the robot, its flexibility and compliance are important bas...

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a soft finger that uses giant electrorheological fluid to realize segmental bending. Solve the problems of the existing pneumatic soft hand such as complex structure, small grasping range, and single working configuration, which lead to poor adaptability, etc.

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