Pneumatic soft robot system and method for achieving lossless grabbing

Abstract

The invention provides a pneumatic soft robot system and method for achieving lossless grabbing. The pneumatic soft robot has the advantages that a novel multi-cavity pneumatic soft robot is designed,the curvature is uniformly changed, and the stress concentration is weakened; and the advanced 3D printing Polyjet technology is adopted in the manufacturing process, the material rigidity of the soft robot can be controlled, reliability is high, integral forming is achieved, and repeated manufacturing is convenient. In order to achieve lossless grabbing, a laser distance measuring sensor is installed to detect the distance between the robot and a grabbed object, so that the movement speed of the robot is in a certain proportion to the distance, the soft and fragile object can be prevented from being damaged due to too large collision force at the grabbing moment, too slow grabbing can be prevented, and the grabbing efficiency is achieved; a thin film pressure sensor is installed to measure the magnitude of contact force, stable closed-loop control is formed, and objects are prevented from being damaged in the grabbing process; and a control circuit and a control flow scheme are further designed to guarantee stable and reliable operation of the system, and finally lossless grabbing of the soft and fragile objects is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pneumatic soft robot system and method for realizing non-destructive grasping. Background technique [0002] With the development of science and technology, robot technology is gradually integrated into our daily life and widely used. Due to lack of flexibility and poor environmental adaptability, traditional rigid robots have great limitations in some special applications. Compared with traditional rigid robots, soft robots are new types of executive components that interact with target objects. They have the advantages of softness, large degrees of freedom, and easy deformation, which enable them to adapt to objects of different shapes and reduce the possibility of damage to soft and fragile objects. sex. It has been widely concerned by scientific research institutions and scholars all over the world. [0003] However, at present, pneumatic soft robots lack effective inform...

AI Technical Summary

Problems solved by technology

[0004] (1) The above-mentioned device can only sense the force after the soft robot (finger) touches the object, and then control the size of the grasping force, but cannot properly control the motion speed of the soft robot (finger) before contact. Slow, it will affect the grasping efficiency; if the movement speed is too fast, there will be a large collision force at the moment of contact, causing damage to fragile objects

[0005] (2) Too many sensors are installed in the above device to realize shape estimation and grasping force feedback, which will inevitably have a certain impact on the softness of the soft robot (finger), and restrict the characteristics of the soft robot (finger) to a certain extent

[0006] (3) The above-mentioned device uses injection molding to make soft robots, the manufacturing process is complicated, the preparation repeatability is poor, and the stiffness of the mixed materials is difficult to accurately control

Images