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A variable stiffness flexible manipulator based on biomimetic adhesion

A manipulator and variable stiffness technology, applied in the field of robotics, can solve problems such as extrusion, deformation and damage of objects, and achieve the effects of improving stability, reducing the normal force peeling angle, and expanding the grasping range

Active Publication Date: 2022-07-01
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a flexible manipulator with variable stiffness based on bionic adhesion, which solves the problem that objects are easily squeezed and deformed to cause damage in the prior art

Method used

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  • A variable stiffness flexible manipulator based on biomimetic adhesion
  • A variable stiffness flexible manipulator based on biomimetic adhesion
  • A variable stiffness flexible manipulator based on biomimetic adhesion

Examples

Experimental program
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Embodiment

[0031] Example: as figure 1 As shown in the figure, a variable stiffness flexible manipulator based on bionic adhesion includes a flange 1 for assembly and multiple robotic arms mounted on the flange 1, and the multiple robotic arms cooperate to grab objects. A plurality of adjustment plates 22 are evenly installed on the flange plate 1, wherein the adjustment plates 22 are inserted into the flange plate 1 and connected by bolts, and the adjustment bolts control the length of the adjustment plates 22 extending or retracting into the flange plate 1, and each adjustment plate 22 are installed with connecting arms 23, and each rotary cylinder 2 is installed on the connecting arms 23, refer to figure 1 In this embodiment, there are two robotic arms, and each robotic arm includes a rotating cylinder 2, a brake 9 and a software execution end 15, wherein the rotating cylinder 2 is provided with a rotating air cavity 3, and the rotating air cavity 3 is installed with a swinging Ring ...

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Abstract

The invention discloses a flexible manipulator with variable stiffness based on bionic adhesion, which comprises a rotating cylinder, a brake and a software execution end. The brake is driven to perform rotary motion by delivering gas into the rotating cylinder, and the gas flow through the swinging cylinder is changed to achieve The variable stiffness of the manipulator realizes the adaptation to various shapes of objects. When the rotating cylinder is used as the driving element to drive the brake, it has the characteristics of variable stiffness and variable damping, and the damping stiffness has no coupling relationship with the rotation speed, which can provide different sizes and weights. The pre-pressure expands the scope of grasping, especially for heavier objects, by increasing the stiffness and damping, it can improve the stability of grasping, and solve the problem that the flexible air drive system has excess flexibility but insufficient rigidity.

Description

technical field [0001] The invention relates to the technical field of robotics, in particular to a variable stiffness flexible manipulator based on bionic adhesion. Background technique [0002] The manipulator is an important actuator in the field of robotics, capable of grasping, carrying or other operations on objects. The main structure of traditional manipulators is mostly rigid metal materials. Motors, hydraulic cylinders, etc. are used as driving elements to transmit power to the grasping end through a series of complex transmissions such as gears, keys and connecting rods. Such manipulators have a large output load. , The number of degrees of freedom is limited and the overall structural rigidity is high. When grasping objects, it often relies on normal force. When operating some fragile objects such as eggs and fresh fruits, it is often impossible to apply appropriate force to achieve non-destructive grasping, so the scope of application is limited. [0003] There...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/0023B25J15/08B25J15/008
Inventor 王周义翁志远尹潇张玲浩姚俊升
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS