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Soft mechanical gripper and control method thereof

A mechanical gripper and soft technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of slow response speed, difficult maintenance, small gripper range of motion, etc., achieve good thermal and electrical conductivity, improve energy density, The effect of increasing the recovery speed

Pending Publication Date: 2021-07-16
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing software grippers mainly have pneumatic and SMA alloy drive methods, but pneumatic drive needs to carry an air pump, so it is difficult to achieve miniaturization and maintenance; and SMA alloy is expensive and cannot be used on a large scale
At the same time, the existing software gripper cannot realize the telescopic movement of fingers, so it can realize grasping in various spaces
In a prior art, conductive nylon wire is used as the driver. Although the problem of cost and control complexity is solved, the cooling speed of the nylon wire is slow, so the response speed is slow, and the range of motion of the gripper is still small.

Method used

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  • Soft mechanical gripper and control method thereof
  • Soft mechanical gripper and control method thereof
  • Soft mechanical gripper and control method thereof

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Embodiment Construction

[0027] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] Such as figure 1 with figure 2 As shown, a soft gripper of the present invention includes a gripper assembly 1 , a soft single finger 2 , an end cap 3 , a single finger connector 4 , a composite artificial muscle 5 and a spring 6 .

[0029] The material of gripper assembly, end cap and single-finger connection is made of PLA, which is prepared by 3D printing; the software single finger is prepared by mixing Ecoflex00-20A and Ecoflex00-20B at a ratio of 1:10 and placing it in a 3D-printed mold. become.

[0030] Nylon 66 fiber preparation: PA6,6 particles were dissolved in formic acid solution, a 15% spinning solution was prepared, ultrasonic crushing was carried out at 50 degrees Celsius for 30 minutes, and PA6,6 fibers were prepared using an electrospinning machine. The specific parameters are as follows. The model of MECC nano elec...

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Abstract

The invention discloses a soft mechanical gripper and a control method thereof. The soft mechanical gripper comprises a gripper assembly and soft single fingers connected to the gripper assembly, and each soft single finger comprises an artificial muscle, a shell and an elastic structure. A cavity is formed in the axial center of the shell, and axial through holes are formed in the shell. The artificial muscles are arranged in the through holes, and the elastic structures are arranged in the through holes. The soft single fingers of the soft mechanical gripper are in a corrugated pipe shape, the bending range is larger, and the flexible single fingers have a contraction function. The carbon nano tube coated composite nylon artificial muscles serve as drivers, the energy density of the whole gripper is improved, and meanwhile, the response speed is effectively increased due to the fact that carbon nano tubes have good heat conduction and electric conduction performance. Due to the addition of mesopore springs of the soft single fingers, the recovery speed of the artificial muscles is greatly increased.

Description

technical field [0001] The invention relates to a soft mechanical gripper and a control method thereof. Background technique [0002] In recent years, with the development of flexible materials and manufacturing technology, the application of soft robots has become more and more extensive. Different from traditional robots, soft robots have the advantages of high degree of freedom and strong adaptability, and are one of the future development directions. [0003] Existing software grippers mainly have pneumatic and SMA alloy drive methods, but pneumatic drive requires an air pump, so it is difficult to achieve miniaturization and maintenance; and SMA alloy is expensive and cannot be used on a large scale. At the same time, the existing software gripper cannot realize the telescopic movement of the fingers, so it can realize grasping in various spaces. In a certain prior art, a conductive nylon wire is used as a driver. Although the problem of cost and control complexity is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 李永正陈建新袁青松卞程程
Owner JIANGSU UNIV OF SCI & TECH
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