Soft electrostatic adhesion coating type bionic octopus manipulator

Abstract

The invention relates to a soft electrostatic adhesion coating type bionic octopus manipulator. The soft electrostatic adhesion coating type bionic octopus manipulator comprises a connecting base, a main cavity and claw fingers, wherein the connecting base is in a hollow circular truncated cone shape, the lower end of the connecting base is open, and through inflating holes are formed in the upper end face of the connecting base; the main cavity is in a hollow drum shape, the upper end of the main cavity is open, and the main cavity is connected with the lower end of the connecting base; the periphery of the main cavity is provided with a plurality of connecting holes which are through from inside to outside; the multiple claw fingers are in a pneumatic network type; the claw fingers are hollow, the front ends of the claw fingers are inclined wedge-shaped, and the rear ends of the claw fingers are communicated with the connecting holes; the inflating holes are connected with the connecting holes through air pipes; the soft electrostatic adhesion coating type bionic octopus manipulator further comprises a flexible covering film; the covering film is disc-shaped, and the center of the top surface of the covering film is connected with the bottom of the main cavity; and a plurality of electrodes are arranged in the covering film. According to the soft electrostatic adhesion coating type bionic octopus manipulator, the clamping force is effectively increased, the clamping force borne by a target object can be equally divided, and the damage risk of the target object is reduced; and meanwhile, multiple grabbing modes are achieved, so that the clamping range is enlarged, and the use requirement can be fully met.

Description

technical field

[0001] The invention relates to a mechanical structure, in particular to a manipulator, in particular to a soft electrostatic adhesion coated bionic octopus manipulator. Background technique

[0002] With the development of science and technology, electrostatic adhesion technology has been widely used in manipulators. At present, most of these manipulators directly use thin flexible electrode sheets as fingers. However, there are obvious shortcomings of this type of manipulator: the clamping force provided by electrostatic adhesion alone is not large enough, especially when acting on target objects with different dielectric constants and different surface properties, the electrostatic adhesion effect produced is quite different , making the clamping performance not stable enough. In addition, due to the problem of residual charge, an external force is often needed to overcome the residual electroadhesive force and quickly detach, resulting in waste of resou...

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