Segmented bending soft finger based on variable rigidity and local thin wall and manufacturing method of segmented bending soft finger

Abstract

The invention provides a segmented bending soft finger based on variable rigidity and local thin wall. The segmented bending soft finger comprises a columnar finger cavity and variable rigidity layers, wherein a strain limiting layer and a fiber winding layer are correspondingly arranged on two opposite sides inside the side wall of the columnar finger cavity, a plurality of thin-wall sections with reduced wall thickness are arranged on the side, corresponding to the fiber winding layer, of the finger cavity at intervals along the length direction, the variable rigidity layers are arranged on the side, corresponding to the strain limiting layer, of the finger cavity, each variable rigidity layer is arranged opposite to one thin-wall section and strides across the thin-wall section, and the rigidity of the variable rigidity layers is controlled to be different so that the bending degrees of the finger cavity in the thin-wall sections can be different. The segmented bending soft finger based on the variable rigidity and the local thin wall and the manufacturing method of the segmented bending soft finger have the beneficial effects that the bending conditions of different sections of the finger are controlled by regulating and controlling the rigidity of the variable rigidity layers, meanwhile, the overall rigidity of the finger is improved, and the capacity of lifting a heavy object can be improved.

Description

technical field [0001] The invention relates to the technical field of soft fingers, in particular to a segmented bending soft finger based on variable stiffness and local thin walls and a manufacturing method thereof. Background technique [0002] Fingers are an important bridge for human beings to explore and interact with the world. A humanoid manipulator with excellent performance can replace humans to work in various complex and dangerous environments, and has greatly promoted the changes in human life. Different from rigid fingers composed of rigid components in the traditional sense, they have disadvantages such as poor environmental adaptability and unsafe human-computer interaction; pneumatic soft fingers based on silicone materials have high flexibility, good flexibility, environmental protection, and development prospects It is very optimistic and has attracted extensive attention from scientific research institutions and scholars all over the world. [0003] Ho...

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Problems solved by technology

[0007] In view of this, in order to solve the problems that the soft finger cannot be bent in segments or the effect of segmented bending is poor, and the soft finger has low stiffness and cannot grasp heavy objects, the embodiment of the present invention provides a method based on variable stiffness and local thin-wall Segmentally curved soft finger and manufacturing method thereof

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