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Multi-joint soft manipulator and manufacturing method thereof

A manufacturing method and manipulator technology, applied in the field of robotics, can solve the problems of weak grasping ability of objects with complex shapes, and achieve the effect of enriching the grasping envelope, improving accuracy, and increasing degrees of freedom

Pending Publication Date: 2022-07-12
SHENZHEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In view of the shortcomings of the above-mentioned prior art, the object of the present invention is to provide a multi-joint soft manipulator and its manufacturing method, aiming at solving the problem that the existing elastic cavity-driven soft manipulator has weak grasping ability to objects with complex shapes. question

Method used

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  • Multi-joint soft manipulator and manufacturing method thereof
  • Multi-joint soft manipulator and manufacturing method thereof
  • Multi-joint soft manipulator and manufacturing method thereof

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Embodiment 1

[0050] The invention discloses a multi-joint soft manipulator, please refer to figure 1 and figure 2 , figure 1 A three-dimensional view of a multi-joint software manipulator provided by the present invention; figure 2 This is a full cross-sectional view of a multi-joint soft manipulator provided by the present invention. The multi-joint soft manipulator disclosed in the present invention specifically includes: a chamber layer 100, a microfluidic layer 200, a pipeline 300 and a grasping layer 400; wherein, the chamber layer 100 is used for fluid (nitrogen, air, water, etc.) etc.) deformation occurs when entering, in actual use, the material of the chamber layer 100 can be selected from a material with a high elastic modulus, and a plurality of continuous cavities 110 are arranged in the chamber layer 100, and the continuous cavities 110 are used for accommodating fluid. , each of the continuous cavities 110 is independent of each other; a plurality of continuous cavities ...

Embodiment 2

[0064] see Figure 5 , the present invention also discloses a manufacturing method of a multi-joint soft manipulator, including:

[0065] S100, loading the material for making the chamber layer 100 into a 3D printer, and printing out the chamber layer 100 according to a predetermined procedure;

[0066] Specifically, in order to enable the soft manipulator to bend, it is not necessary to have a large deformation to form a stable surface, but a relatively large expansion deformation is required to form an expansion surface, and the thickness of the stable surface should be greater than that of the expansion surface. In the case of meeting this requirement, the specific wall thickness is determined by calculating the load. After the wall thickness size is determined, the soft material is loaded into the 3D printer, and the 3D printer prints according to a predetermined procedure to complete the manufacture of the chamber layer 100 .

[0067] S200, fabricating the confinement l...

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Abstract

The invention discloses a multi-joint soft manipulator and a manufacturing method thereof, and the multi-joint soft manipulator comprises a cavity layer, a micro-channel layer, a pipeline and a grabbing layer; wherein a plurality of continuous cavities are formed in the cavity layer, and the continuous cavities are independent of one another; the micro-channel layer is arranged at the bottom of the cavity layer, a plurality of main channels are arranged in the micro-channel layer, and the main channels are correspondingly connected with the continuous cavities; the plurality of pipelines are arranged on the micro-channel layer, and the pipelines are correspondingly communicated with the channels; the grabbing layer is arranged at the bottom of the micro-channel layer. According to the invention, the cavity layer is divided into a plurality of independent continuous cavities, the micro-channel layer is preset, and the fluid is independently conveyed for each continuous cavity through the independent main channel, so that the plurality of continuous cavities are independently controlled, the degree of freedom of the manipulator is increased, the grabbing envelope line is enriched, and the grabbing accuracy of the manipulator is improved; and the grabbing of objects with complex shapes can be adapted.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-joint soft manipulator and a manufacturing method thereof. Background technique [0002] With the rapid development of intelligent manufacturing and information technology, more and more functional robots have penetrated into all fields of production and life to assist humans in completing various tasks. As the executive component of the robot and the external environment, the automatic support device can enable the robot to have the ability to grasp, sort, and assemble, which directly affects the automation and intelligence level of the robot. Traditional automatic holding devices include rigid grippers, multi-fingered dexterous hands, etc. Among them, rigid grippers have the advantages of high positioning accuracy, fast response speed, and high degree of freedom, and are often used in repetitive and dangerous industrial sites, but they can only be used. Applicable to a single sce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/14
CPCB25J9/142
Inventor 李辉白昊森伍晓宇谭友豪
Owner SHENZHEN UNIV
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