Soft mechanical gripper and control method thereof

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...

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.

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