Soft gripper finger applied to space manipulator

Abstract

The invention discloses a soft gripper finger applied to a space manipulator. The soft gripper finger comprises a pneumatic soft finger and rigid supporting pieces; the plurality of rigid supporting pieces are symmetrically fixed to the lower end parts of the two sides of the pneumatic soft finger in the length direction, and the rigid supporting pieces on the same sides are hinged; and the pneumatic soft finger is fixed to the tail end of the space manipulator. The soft gripper finger applied to the space manipulator improves the overall rigidity of the finger, and can effectively restrain shaking of the finger.

Description

technical field [0001] The invention relates to the technical field of aerospace, in particular to a soft gripper finger applied to a space manipulator. Background technique [0002] At present, most of the grasping structures used in space manipulators are rigid grasping structures. Rigid collisions and vibrations will occur when grasping moving objects, which may damage the structure. The use of soft grippers made of soft materials can effectively avoid this problem, and can accomplish many operations that traditional rigid grippers cannot achieve, such as: grabbing brittle or soft and fragile objects, passing through objects smaller than their normal size Gap etc. The full name of the soft gripper is: a soft robot with a grasping function, which also has sufficient applications in real life. When used in the field of aerospace, it can grab space debris and capture spy satellites. The soft gripper has a simple structure and can be directly driven. The device does not ne...

AI Technical Summary

Problems solved by technology

[0005] (2) The rigidity of the soft gripper itself is limited. When grasping high-speed and heavy objects, the object will not be firmly grasped due to insufficient rigidity, and the grasped object will be easily detached from the gripper;

[0006] (3) The deformation process of the soft gripper is accompanied by changes in the stiffness of the structure itself, and the degree of fit between the gripper and the grasped object is not high, which reduces the gripping efficiency and gripping effect of the soft gripper;

[0007] (4) The size of the soft gripper will directly affect the size range of the objects that can be grasped by the soft gripper, and it is difficult to achieve the effect of "one claw with multiple functions"

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