A rigid-flexible hybrid robot with variable stiffness
A variable stiffness, human hand-like technology, applied in the field of human hand-like rigid-flexible hybrid robots, can solve the problems of complex system control, low grasping bearing capacity, high cost, and achieve highly flexible grasping, strong grasping ability, and low cost. Effect
Active Publication Date: 2022-07-19
ZHEJIANG UNIV
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Problems solved by technology
[0003] The purpose of the present invention is to improve the shortcomings of the traditional human-like soft robot, such as low grasping capacity, complex system control, low stiffness, and high cost, and provide a human-like rigid-soft hybrid robot with variable stiffness.
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[0026] The solution of the present invention will be further described and explained below in conjunction with the accompanying drawings.
[0027] A rigid-flexible hybrid robot imitating a human hand with variable stiffness includes four software drivers and two variable-stiffness joint rigid skeletons; the variable-stiffness joint rigid skeleton is composed of variable-stiffness joints 3 , curved beam structures 6 , and connecting shafts 8 . The connecting shaft 8 is fixedly connected with the curved beam structure 6, and the connecting shaft 8 is used for pulling the curved beam structure 6 to rotate around the variable stiffness joint 3; the software drivers are placed symmetrically on both sides, and the two software drivers on each side are respectively coupled A variable stiffness joint rigid frame, one end of the software driver is fixed on the variable stiffness joint rigid frame, and the other end is connected through the connecting shaft 8 and the curved beam structur...
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The invention discloses a rigid-flexible hybrid robot imitating a human hand with variable stiffness, comprising a software driver and a rigid skeleton of variable stiffness joints. The software driver is finger-like and has a plurality of connected rectangular air chambers. The bending deformation is realized by inflating the software driver, thereby pulling the curved beam structure connected with the rigid skeleton of the variable stiffness joint to rotate, realizing the bending deformation of the robot. . By inflating the piston air chamber in the rigid skeleton of the variable stiffness joint, the transmission slider is pushed down, and the two extrusion sliders are moved to both sides, thereby squeezing the layered interference structure and making it close to each other to generate friction This antagonistic effect hinders the rotation of the curved beam structure, thereby increasing the bending stiffness of the human hand-like rigid-flexible hybrid robot, and finally improving the grasping ability. The rigid-flexible hybrid robot with variable stiffness imitating the human hand has the advantages of multi-finger and multi-degree-of-freedom independent grasping, variable stiffness, pure pneumatics, strong grasping ability, and low cost.
Description
technical field [0001] The invention relates to soft robot technology, in particular to a rigid-flexible hybrid robot imitating a human hand with variable rigidity. Background technique [0002] In recent years, soft robotic technology has developed rapidly. Compared with traditional rigid grippers, soft hands made of soft materials have the characteristics of good flexibility and strong adaptability, and can effectively grasp objects with complex or fragile shapes. However, the problems of low stiffness, low bearing capacity, and complex system control of soft grippers have become increasingly prominent, which hinder the development of soft robotic applications. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide a rigid-flexible hybrid robot with variable stiffness in order to improve the shortcomings of traditional human-like soft robot with low grasping bearing capacity, complex system control, low rigidity and high cost. [0004] The ...
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IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/0023B25J15/08
Inventor 徐彦杨虎啸严挺王青青俞方洪郑建国
Owner ZHEJIANG UNIV