A software grasping device and method based on artificial muscle drive

Abstract

The present invention provides a soft grasping device and a soft grasping method driven by artificial muscles. The soft grasping device includes an arm, a palm and a plurality of soft fingers, wherein the palm is set on the arm, and the plurality of soft fingers are evenly distributed or opposite to each other. Set on the palm, the soft finger includes an end cap, a finger body, a bending sensor, and an artificial muscle. The finger body is connected to the palm through the end cap, and the finger body is provided with a first slot and a second slot parallel to its axial direction. , the third slot, the artificial muscle is set in the first slot and is located at the grasping front of the finger body, the bending sensor is set in the second slot and is located at the grasping back of the finger body, and the connecting wire is set at the third The slot is located in the middle of the finger body, and the first slot, the second slot and the third slot communicate with each other. The invention has the advantages of compact structure and strong grasping ability.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a software grabbing device and a software grabbing method driven by artificial muscles. Background technique [0002] In recent years, with the rise of the wave of intelligent manufacturing, the application of grasping robots in the fields of medical care, housekeeping services, space exploration, industrial automation and production has received more and more attention. In the grasping robot system, Due to its high structural rigidity, the rigid gripper has potential risks in the process of human-computer interaction or object grasping, while the soft gripper has high flexibility and adaptability to the surface of the object, and can achieve more flexible deformation, even There is no danger in collision, and it has wide application prospects in many occasions. [0003] There are two common driving methods for soft grasping hands: pneumatic and artificial mu...

AI Technical Summary

Problems solved by technology

[0005] Chinese patent 201710346369.1 adopts the method of soft adsorption, which drives the fingers to bend by air pressure, and at the same time grasps the object through the adsorption force of the suction cup on the soft arm. This structure requires high quality on the surface of the grasped object. If the surface is uneven then the crawling performance will be greatly reduced.

[0006] Chinese patent 201821781114.4 discloses an industrial soft grasping robot. By inflating the spherical structure, the internal particles can squeeze the grasped object to achieve grasping. This method can only grasp small objects, and the volume is larger than the spherical structure. Objects are helpless;

[0007] Chinese patent 201720365517.X discloses a gas-driven flexible polymer soft manipulator, which uses an external air pump to inflate the air cavity in the hand of the soft grasping hand, so that the fingers can be bent to achieve grasping. This method is limited by the huge volume of the air pump and cannot achieve overall Structure miniaturization

[0008] Chinese patent 201920352563.5 discloses a thermal expansion fluid composite special-shaped cavity-driven robot soft hand, which uses a combination of thermal expansion fluid composite heterogeneous cavity and shape memory alloy to drive the fingers to achieve grasping. This method is costly and complicated to manufacture.

[0010] Most of the existing software grabbing hand drive methods use pneumatic form, which can achieve a large deformation of the finger, but because it relies on an external air pump and a complex solenoid valve circuit to achieve control, the overall structure is complex and bulky, and it is difficult to achieve miniaturization Lightweight; driving with shape memory alloy wire can provide a large output force, but the cost is high and it is not suitable for large-scale applications

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