Soft body grabbing device and method based on artificial muscle driving
A technology of artificial muscles and grasping devices, which is applied in the field of flexible robots, can solve the problems that the overall structure cannot be miniaturized, it is difficult to realize miniaturization and light weight, and it is not suitable for large-scale applications, so as to reduce the overall price cost and time cost, The appearance is neat and tidy, and the effect of miniaturization is realized
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[0052]A software grasping device driven by artificial muscles, such asfigure 1 As shown in -6, it includes an arm 100, a palm 200 and three soft fingers 300. The palm 200 is set on the arm 100, and the three soft fingers 300 are set on the palm 200 in an evenly distributed manner.
[0053]The soft finger 300 includes an end cover 310, a finger body 320, a bending sensor 330, an artificial muscle 340, and a high-temperature tube 350. The finger body 320 is connected to the palm 200 through the end cover 310. The finger body 320 is provided with parallel lines along its axis. The first slot 321, the second slot 322, and the third slot 323, such asFigure 4 ,5As shown, whereFigure 5 a is a longitudinal sectional view of the finger body 320,Figure 5 b is a transverse cross-sectional view of the finger body 320. The artificial muscle 340 is fitted into the high temperature resistant tube 350 and then placed in the first slot 321 and located on the front surface of the finger body 320. The be...
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