Crab-like pincer multi-mode grabbing soft manipulator and manufacturing process

Abstract

The application provides a kind of soft gripper and manufacturing process of multi-mode crab, it is related to flexible manipulator field, in view of the poor flexibility and adaptability of current soft manipulator, install soft finger on main support plate to form manipulator, the soft actuator of soft finger includes finger actuator and fingertip actuator, the first clamping part is formed between different soft fingers, the second clamping part is formed between two fingertip actuators, the first clamping part can cope with the grabbing of larger volume target objects, the second clamping part can cope with the grabbing of smaller volume target objects, realize multi-mode grabbing operation ability, and the pressure value input by each lumen can be controlled by control tube, the bending degree of soft actuator is adjusted, accurate action is realized, flexibility and adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the field of flexible manipulators, and in particular to a crab claw-like multi-mode grasping soft manipulator and a manufacturing process thereof. Background Art

[0002] Soft robotic arms, made of flexible materials, offer high compliance, high safety, and low weight, making them ideal for safely grasping delicate objects. Their flexible structure enables them to operate flexibly in complex and confined environments, minimizing surface damage. Consequently, they are widely used in a variety of fields, including industry and medicine, demonstrating unique advantages in tasks such as precision grasping, object handling, and minimally invasive surgery.

[0003] A Chinese patent (publication number CN 114770570 B, publication date July 22, 2022) discloses a fully flexible biomimetic pneumatic manipulator based on a tree branch structure. The manipulator's cavities increase exponentially with the number of branches. Each cavity is independently controlled and unaffected by other cavities, enabling stable, non-destructive, and dexterous grasping. Furthermore, the number of branches can be easily adjusted as needed, and a multi-level control principle is employed to achieve different opening angles and closing shapes of the branches, allowing for comprehensive conformity to objects and increasing the contact area during grasping. While this design can be used in various operational scenarios and grasping tasks, current soft manipulators still suffer from a single grasping mode and poor adaptability. For objects of varying shapes, sizes, or materials, soft manipulators often struggle to precisely adjust their grasping methods, resulting in suboptimal grasping results. Furthermore, the soft manipulator's grasping flexibility, adaptability, and multi-tasking capabilities fall short of expectations. Summary of the Invention

[0004] The purpose of the present invention is to address the defects of the existing technology and provide a crab claw-like multi-mode grasping soft manipulator and a manufacturing process. Soft fingers are installed on a main support plate to form a manipulator. The soft actuators of the soft fingers include finger actuators and fingertip actuators. A first clamping part is formed between different soft fingers, and a second clamping part is formed between two fingertip actuators. The first clamping part can cope with the grasping of larger target objects, and the second clamping part can cope with the grasping of smaller target objects, thereby realizing multi-mode grasping operation capabilities. In addition, the control tube can be used to control the pressure value of each cavity input, adjust the bending degree of the soft actuator, and realize accurate movement.

[0005] The first object of the present invention is to provide a multi-mode crab claw-like soft gripping manipulator, which adopts the following scheme:

[0006] It includes a main support plate and at least two soft fingers installed on the main support plate. Each soft finger includes a soft actuator and a control tube. The soft actuator includes a finger actuator and a fingertip actuator. Two spaced-apart fingertip actuators are provided at the end of each finger actuator. The main cavity in the finger actuator is connected to the control tube, and a first clamping part is formed between different soft fingers. The secondary cavity in the fingertip actuator is connected to the control tube after passing through the finger actuator, and a second clamping part is formed between the two fingertip actuators on the same finger actuator.

[0007] Furthermore, the auxiliary cavities on the soft actuator are located on both sides of the main cavity, and a channel for connecting the auxiliary cavities and the control tube is provided on the finger actuator.

[0008] Furthermore, one end of the finger actuator away from the fingertip actuator is fixed to the plate, the main cavity and the end of the channel close to the plate are connected to the corresponding control tube, and the control tube is connected to the auxiliary cavity in a one-to-one correspondence.

[0009] Furthermore, the finger actuator and the fingertip actuator can bend respectively when driven by the control tube, and the plane where the bending direction of the fingertip actuator is located is perpendicular to the plane where the bending direction of the finger actuator is located.

[0010] Furthermore, the extended sides of the finger actuator and the fingertip actuator are corrugated, and one end of the finger actuator connected to the fingertip actuator is a non-expanded layer to support the fingertip actuator.

[0011] Furthermore, the main support plate is provided with an opening for the control tube to pass through and a mounting portion for connecting to an external structure.

[0012] The second object of the present invention is to provide a manufacturing process for the crab claw-like multi-mode grasping soft manipulator as described in the first object, comprising:

[0013] Prepare the material for the soft actuator and pour it into the upper mold and the base mold;

[0014] The upper mold is equipped with a base end cover with an inner core, and the material is poured into the upper mold to submerge the inner core. The lower mold is then installed to obtain a combined mold.

[0015] Adjust the posture of the combined mold and pour the material to fill the internal space of the combined mold;

[0016] After the internal material of the combined mold is formed, the mold is demoulded to obtain the soft actuator body, and the base mold is demoulded to obtain the base. The soft actuator body and the base are combined to form the soft actuator;

[0017] Connect the control tube to the soft actuator and install it to the main support plate.

[0018] Furthermore, the mold includes an upper mold, a lower mold, a base mold, a base end cover and an inner core. The upper mold, the lower mold, the base mold and the inner core are assembled to obtain a combined mold, and the combined mold is equipped with an open end cover.

[0019] Furthermore, after the upper and lower molds are combined, the mold joints are kept sealed.

[0020] Furthermore, before the material in the mold solidifies, it is placed in a vacuum drying oven for defoaming.

[0021] Compared with the prior art, the present invention has the following advantages and positive effects:

[0022] In response to the current problems of poor flexibility and adaptability of soft manipulators, soft fingers are installed on the main support plate to form a manipulator. The soft actuators of the soft fingers include finger actuators and fingertip actuators. A first clamping part is formed between different soft fingers, and a second clamping part is formed between the two fingertip actuators. The first clamping part can cope with the grasping of larger target objects, and the second clamping part can cope with the grasping of smaller target objects, realizing multi-mode grasping operation capabilities, and can use control tubes to control the pressure values ​​of each cavity input, adjust the bending degree of the soft actuator, achieve accurate movements, and improve flexibility and adaptability.

[0023] The system has multi-mode grasping capabilities. When the target object is large, pressure is applied to the central main cavity of each soft actuator through a control tube, causing the finger actuators of each soft finger to bend, achieving envelope grasping. When the target object is slender or small, fluid pressure is applied to the secondary cavities on both sides of each soft actuator through a control tube, causing the fingertip actuators at the end of the soft fingers to bend into a crab-claw shape, achieving fingertip gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 Schematic diagram of the overall structure of the soft finger in Example 1 and Example 2 of the present invention.

[0026] Figure 2 2 is a cross-sectional view of the software actuator in Example 1 and Example 2 of the present invention.

[0027] Figure 3 Schematic diagram of a crab claw-like multi-mode grasping soft manipulator with two soft fingers in Examples 1 and 2 of the present invention.

[0028] Figure 4Schematic diagram of the bending principle of the soft actuator on a vertical plane in Examples 1 and 2 of the present invention.

[0029] Figure 5 Dimensional diagram of a bellows cavity of the soft actuator in Examples 1 and 2 of the present invention.

[0030] Figure 6 This is a schematic structural diagram of the upper mold in Example 2 of the present invention.

[0031] Figure 7 This is a schematic structural diagram of the lower half mold in Example 2 of the present invention.

[0032] Figure 8 This is a schematic diagram of the installation of the base end cover and the inner core in Example 2 of the present invention.

[0033] Figure 9 This is a schematic structural diagram of the open end cover in Example 2 of the present invention.

[0034] Figure 10 Schematic diagram of the structure of the base mold in Example 2 of the present invention.

[0035] Figure 11 This is a schematic structural diagram of the integral mold (including the funnel) in Example 2 of the present invention.

[0036] Among them, 1. Flat plate; 2. Control tube; 3. Fixed block; 4. Soft actuator; 5. Main cavity; 6. Sub-cavity; 7. Main support plate; 8. Upper mold; 9. Lower mold; 10. Inner core; 11. Base end cover; 12. Opening end cover; 13. Base mold; 14. Funnel. DETAILED DESCRIPTION

[0037] Example 1

[0038] In a typical embodiment of the present invention, Figure 1-Figure 5 As shown, a crab claw-like multi-mode grasping soft manipulator is given.

[0039] Traditional soft manipulators have limited grasping modes, and it is difficult to accurately adjust the grasping method for objects of different shapes and sizes, and the adaptability is insufficient. Based on this, the present embodiment provides a crab claw-like multi-mode grasping soft manipulator, which uses a soft actuator 4 to establish a first clamping part and a second clamping part, respectively grasping target objects of different sizes, realizing multi-mode grasping operation capabilities, enriching the grasping modes, and solving the problem of a single grasping mode; and, by controlling the cavity pressure value through the control tube 2 to adjust the bending degree of the soft actuator 4, the finger shape can be flexibly adjusted according to the specific conditions of different objects, thereby better adapting to different objects and improving the adaptability to objects of different sizes.

[0040] like Figure 1 and Figure 3 As shown, the crab claw-like multi-mode grasping soft manipulator includes a main support plate 7 and at least two soft fingers mounted on the main support plate 7. The main support plate 7 serves as the basic support structure of the entire manipulator, supporting and securing the soft fingers and providing a stable mounting platform for the coordinated operation of subsequent components. The soft fingers are key components for achieving the grasping function, and there are at least two of them. Each soft finger includes a soft actuator 4 and a control tube 2 to perform the grasping action.

[0041] Combine Figure 1 and Figure 2 The soft actuator 4 includes a finger actuator and a fingertip actuator. Two fingertip actuators are spaced apart at the end of the finger actuator, so that the soft actuator 4 forms a crab claw-like structure. The finger actuator and the fingertip actuator can move separately, so that the crab claw-like multi-mode grasping soft manipulator can contact and grasp the target object from different positions and in different forms.

[0042] In order to achieve separate control of the finger actuator and the fingertip actuator, control tubes 2 are respectively configured for the finger actuator and the fingertip actuator, one of which is connected to the main cavity 5 in the finger actuator, and each secondary cavity 6 in the fingertip actuator is connected to a corresponding control tube 2. The pressure value input into the main cavity 5 or the secondary cavity 6 can be adjusted through the control tube 2, thereby controlling the action of the soft actuator 4.

[0043] The first clamping part is formed between different soft fingers. During execution, the size of the first clamping part is changed by the action of the finger actuator corresponding to the different soft fingers. Since the size of the finger actuator is larger than that of the fingertip actuator, the size of the first clamping part formed is also larger. It is mainly used to cope with the grasping of larger target objects. Through reasonable structural layout and action coordination, it can clamp from different sides and angles of the object, effectively increasing the contact area and clamping range with large objects, ensuring sufficient grasping force and stable grasping effect for large objects, and realizing effective clamping of large objects.

[0044] A second clamping part is formed between two fingertip actuators on the same finger actuator. During execution, the size of the second clamping part is changed by the action of different fingertip actuators at the end of the same finger actuator. Its function is to cope with the grasping of smaller target objects. The relatively compact and fine structure and adjustable action between the two fingertip actuators can achieve precise clamping of small objects, avoiding the occurrence of difficult or inaccurate grasping due to the object being too small, and improving the function of the entire manipulator in grasping objects of different sizes.

[0045] Each soft finger is installed on the main support plate 7, and the soft actuator 4 inside it is connected to it through the control tube 2. The control tube 2 can input pressure into different cavities to adjust the bending degree of the soft actuator 4; and a first clamping part is formed between different soft fingers, and a second clamping part is formed between the fingertip actuators on the same finger actuator. The various parts cooperate with each other and work together to complete multi-mode grasping operations.

[0046] The control tube 2 plays a key role in connection and regulation. By inputting different pressure values ​​into different cavities, it can accurately control the bending degree of the soft actuator 4, thereby achieving flexible regulation of the entire soft finger movement, so that the crab claw-like multi-mode grasping soft manipulator can accurately adjust its own shape to complete the grasping operation according to different grasping targets, grasping scenarios and other requirements.

[0047] Secondary lumens 6 on the soft actuator 4 are located on either side of the main lumen 5. The finger actuator is equipped with channels connecting these secondary lumens 6 with the control tube 2. Placing these channels on either side of the main lumen 5 facilitates independent pressure regulation of the main and secondary lumens 5, respectively, via the control tube 2, preventing interference between the lumens. The channels connecting the secondary lumens 6 and the control tube 2 on the finger actuator create a pressure bridge, allowing the control tube 2 to accurately transmit the corresponding pressure through the finger actuator to the secondary lumens 6, thereby achieving precise control of the fingertip actuator. This structural design ensures the feasibility of coordinated operation between these components.

[0048] like Figure 2 As shown, this solves the issues of lumen layout and connectivity, ensuring precise and orderly pressure transmission from the control tube 2 to the different lumens (main lumen 5 and auxiliary lumen 6). This avoids inaccurate control and uncoordinated movements caused by chaotic lumen configuration or ineffective connectivity, laying the foundation for achieving differentiated motion control of different parts of the soft actuator 4 (the finger actuator and the fingertip actuator). This improves the accuracy and operability of pressure control within the entire soft actuator 4, facilitating more detailed regulation of the fingertip actuator's movements. This allows the fingertip actuator to achieve independent and precise motion responses based on pressure changes in its corresponding auxiliary lumen 6, further enhancing the flexibility and refinement of the manipulator's grasping movements.

[0049] The end of the finger actuator away from the fingertip actuator is fixed to the flat plate 1. The main cavity 5 and the end of the channel close to the flat plate 1 are connected to the corresponding control tube 2, and the control tube 2 is connected to the auxiliary cavity 6 in a one-to-one correspondence. Fixing one end of the finger actuator to the flat plate 1 determines its stable installation position, providing a solid base point for the entire soft finger when performing a grasping action, ensuring the stability and reliability of the action. At the same time, the main cavity 5 and the channel are connected to the control tube 2 at the end close to the flat plate 1, and the control tube 2 is connected to the auxiliary cavity 6 in a one-to-one correspondence, so that the pressure input is transmitted to each cavity in an orderly manner, facilitating unified management and precise pressure adjustment to ensure that each part moves as expected. The control tube 2 can be made of silicone tube.

[0050] Specifically, such as Figure 1 As shown, the soft actuator 4 is mounted on the main support plate 7 via the plate 1. A boss is provided at one end of the soft actuator 4. The boss is fitted with a fixing block 3. The fixing block 3 is groove-shaped. Two fixing blocks 3 are symmetrically fitted together to clamp the boss of the soft actuator 4 and are fixed to the plate 1 via screws. One side of the main body of the soft actuator 4 is corrugated, and the other side is restricted by a non-expandable layer. Figure 4 As shown, when the internal cavity of the soft actuator 4 is subjected to fluid pressure, the corrugated side of the soft actuator 4 can be controlled to stretch, thereby driving the bending of the other side, and realizing the bending action as a whole.

[0051] This solves the problem of connection and positioning between the various cavities of the soft actuator 4 and the control tube 2, as well as the overall structural stability. This prevents abnormal pressure transmission and uncontrolled soft finger movements caused by chaotic and unstable connections, allowing the entire soft finger to achieve orderly motion control based on a stable structural foundation. This enhances the stability of the entire soft finger structure, allowing the finger actuator and fingertip actuator to stably and accurately perform corresponding bending and other movements when pressure is applied by the control tube 2. This improves the repeatability and accuracy of the grasping action and provides a structural guarantee for reliable multi-mode grasping operations.

[0052] like Figure 1 and Figure 3 As shown, when driven by control tube 2, the finger actuator and fingertip actuator can bend independently, with the plane in which the fingertip actuator bends perpendicular to the plane in which the finger actuator bends. Driven by control tube 2, the finger actuator and fingertip actuator each have independent bending directions, and the planes in which their bending directions lie perpendicular to each other. This allows for more complex and diverse coordination in movements. For example, when grasping an object, the finger actuator can embrace and fit the object from a broad direction, while the fingertip actuator can perform more precise gripping and securing movements from a perpendicular direction, generating effective gripping force on the object from different dimensions.

[0053] When the finger actuator and fingertip actuator work separately, the different movement directions can avoid mutual interference and improve the flexibility of movement. It solves the problem of the single dimension of the grasping action of traditional soft manipulators. In the past, it was difficult to achieve multi-angle and multi-dimensional fine grasping by simply bending and clamping the whole body. By bending the actuators in the vertical direction corresponding to the two clamping parts, the dimension of the grasping action is increased, and the adaptability to different parts and different shape characteristics of the object is improved. The grasping action form of the manipulator is enriched, so that it can better adapt to objects of different shapes and structures. Whether it is a regular shape or an irregular shape, it can achieve a more fitting and stable grasping effect through the bending coordination of the finger actuator and the fingertip actuator in different directions, thereby improving the success rate and adaptability of the grasping.

[0054] like Figure 3 and Figure 5 As shown, the extended sides of the finger actuator and fingertip actuator are corrugated, while the end of the finger actuator connected to the fingertip actuator is a non-expanding layer to support the fingertip actuator. The corrugated design of the extended sides of the finger actuator and fingertip actuator provides excellent elasticity and deformation capabilities. When subjected to pressure from the control tube 2, the corrugated structure can more smoothly perform deformations such as bending and stretching, thereby increasing its deformability and flexibility. The non-expanding layer at the end of the finger actuator connected to the fingertip actuator provides a stable support base, ensuring a reliable foundation for the fingertip actuator during movement and preventing structural instability and uncontrolled movement due to excessive deformation.

[0055] It is understandable that the action logic of the finger actuator and fingertip actuator is similar to the action mode of existing soft mechanical claws. Due to the structural adjustment of this embodiment, the balance problem between the deformation flexibility and structural stability of the soft actuator 4 during the action process is solved. It allows it to flexibly perform actions such as bending to adapt to different grasping requirements, and ensures the stability of key connection parts to prevent the entire structure from losing support and failing to accurately complete the grasping action due to excessive pursuit of deformation. The overall action performance of the soft actuator 4 is improved. The corrugated expansion side makes the action more flexible and can better fit the shape of the object; the support of the non-expansion layer ensures the accuracy and stability of the fingertip actuator action. The combination of the two optimizes the action performance of the soft actuator 4 during the grasping process and improves the accuracy and reliability of the grasping.

[0056] The main support plate 7 is provided with an opening for the control tube 2 to pass through and a mounting portion for connecting to an external structure. The opening for the control tube 2 to pass through is provided so that the control tube 2 can pass through the main support plate 7 to achieve connection with the various cavities of the soft finger, thereby avoiding the control tube 2 affecting the structural compactness and movement coordination of the entire manipulator due to a chaotic layout.

[0057] The mounting portion, used for connecting to external structures, facilitates the connection of the entire crab-like multi-mode gripping soft robot arm with other related equipment and devices, expanding its application scenarios and functional integration possibilities, such as connecting to robotic arms and automated production lines. This solves the problems of wiring the control tube 2 and integrating the robot with external devices, allowing the control tube 2 to be rationally arranged within the overall structure. It also provides a convenient interface for integrating the robot into more complex operating systems, avoiding the limitations of its scope of use and functional expansion due to wiring difficulties and the inability to connect to external structures.

[0058] The structural rationality and practicality of the entire device are improved, the layout of the control tube 2 is made more regular, and the potential failure risk caused by the cluttered lines is reduced; it is also convenient to connect with external structures, broadening the application scenarios of the soft manipulator in different industrial, scientific research and other fields, and enhancing its versatility and multi-tasking execution capabilities.

[0059] like Figure 4 and Figure 5 As shown, the modeling process of the soft actuator 4 in the crab-like multi-mode grasping soft manipulator includes the following steps:

[0060] S1.1: If Figure 4 As shown, taking the corrugated body of the soft actuator 4 as the object, the axial length of the bottom of the soft actuator 4 when bent is limited by the non-expandable layer. L It is assumed that the soft actuator 4 has a constant curvature and its mass is uniformly distributed along its length when it is freely bent.

[0061] S1.2: If Figure 5 As shown, based on the hyperelastic model, the expression for calculating the change of the axial stretch of the soft actuator 4 with the change of the cross-sectional length is calculated.

[0062] Taking the Neo-Hookean model as an example, the strain energy of the elastic body It can be expressed as:

[0063] ;

[0064] in: G is the shear modulus of the elastic body. is the axial stretching rate of the soft actuator 4. is the circumferential stretching rate of the soft actuator 4. is the radial stretching rate of the soft actuator 4. is the volume of the elastic body.

[0065] Assuming that the material of the soft actuator 4 is incompressible, the axial, circumferential and radial stretching of the soft actuator 4 should satisfy .

[0066] During the bending process, the soft actuator 4 does not change in the radial direction, i.e. , .

[0067] Axial elongation :

[0068] ;

[0069] in: L is the axial length of the bottom of the soft actuator 4. θ is the bending angle of the soft actuator 4. β is the cross-sectional length of the soft actuator 4.

[0070] S1.3: Calculate the volume of the elastic body of the soft actuator 4 and the total volume of the soft actuator 4 after inflation.

[0071] Elastomer volume :

[0072] ;

[0073] The total volume of the soft actuator 4 after inflation :

[0074] ;

[0075] S1.4: Calculate the fluid volume, i.e., the total volume of the soft actuator 4 after inflation minus the volume of the elastic body, and calculate the generalized force caused by the input fluid pressure based on the principle of virtual work.

[0076] Fluid volume :

[0077] ;

[0078] Fluid input generalized force :

[0079] ;

[0080] in: P Enter the pressure for the fluid.

[0081] S1.5: Calculate the strain energy of the elastic body.

[0082] From step S1.2, according to Figure 5 Dimensioning, elastic body strain energy It can be expressed as:

[0083] ;

[0084] S1.6: Calculate the gravitational potential energy and kinetic energy of soft actuator 4.

[0085] Soft Actuator 4 Gravitational Potential Energy :

[0086] ;

[0087] in: m is the mass of the corrugated body of the soft actuator 4. g is the gravitational constant.

[0088] by Figure 4 In the coordinate system defined in , the coordinates of each point on the software actuator 4 can be expressed as:

[0089] ;

[0090] ;

[0091] in: s is the arc length from a point on the soft actuator 4 to the origin.

[0092] Since the mass in S1.1 is evenly distributed along the length, the kinetic energy of the soft actuator 4 It can be expressed as:

[0093] ;

[0094] S1.7: Calculate the Lagrangian function, which is the kinetic energy of the soft actuator 4 minus the gravitational potential energy of the soft actuator 4 and the strain energy of the elastic body. Based on each term in the Lagrangian equation, calculate the dynamic model of the soft actuator 4.

[0095] Lagrangian function Expressed as:

[0096] ;

[0097] According to the Lagrange equation, the dynamic model of the soft actuator 4 is expressed as:

[0098] ;

[0099] in: is the coefficient that takes into account the damping characteristics and viscous resistance.

[0100] Example 2

[0101] In another typical embodiment of the present invention, Figures 1-11 As shown, a manufacturing process of a crab claw-like multi-mode grasping soft manipulator is provided to manufacture the crab claw-like multi-mode grasping soft manipulator as in Example 1.

[0102] A manufacturing process of a multi-mode grasping soft manipulator imitating a crab claw, comprising:

[0103] Prepare the material for the soft actuator 4 and pour it into the upper mold 8 and the base mold 13;

[0104] The upper mold 8 is installed with a base end cover 11 with an inner core 10, and the material is continued to be poured into the inner core 10, and the lower mold 9 is installed to obtain a combined mold;

[0105] Adjust the posture of the combined mold and pour the material to fill the internal space of the combined mold;

[0106] After the internal material of the combined mold is formed, the mold is demoulded to obtain the main body of the soft actuator 4, and the base mold 13 is demoulded to obtain the base. The main body of the soft actuator 4 and the base are combined to form the soft actuator 4;

[0107] The control tube 2 is connected to the soft actuator 4 and mounted to the main support plate.

[0108] Specifically, in combination with Example 1 and Figures 1-11 , the manufacturing process of the crab claw-like multi-mode grasping soft robot is described in detail.

[0109] S2.1: Make a mold, including: upper mold 8, lower mold 9, base mold 13, opening end cover 12, base end cover 11, inner core 10 and funnel 14. The production method can be but is not limited to 3D printing, machining and other methods.

[0110] S2.2: Spray a mold release agent onto the mold to facilitate subsequent removal of the completed soft actuator 4.

[0111] S2.3: Prepare a mixture of liquid flexible soft materials and stir evenly using a stirring rod.

[0112] S2.4: Pour part of the mixed material into the upper mold 8 until the corrugated groove is submerged, then install the base end cover 11 with the inner core 10, and then pour part of the material to submerge the inner core 10. Close the upper mold 8 and the lower mold 9 and place them vertically with the mold opening facing upward.

[0113] S2.5: Secure the upper mold half 8 to the lower mold half 9 using woodworking clamps and install a funnel 14 at the opening. Pour the material into the mold along the funnel 14 until the liquid level is slightly above the baseline between the funnel 14 and the opening. Place the entire mold in a vacuum drying oven to remove air bubbles before the material solidifies.

[0114] S2.6: Remove the mold from the vacuum drying oven, remove the funnel 14, cover the open end cap 12, and allow the material to solidify. If the material requires heating to solidify, place the mold back into the vacuum drying oven and heat it.

[0115] S2.7: Making a base, including: pouring the same stirred flexible soft material into the base mold 13, and then placing it in a vacuum drying oven to remove air bubbles, scraping off any excess material with a scraper, and allowing the material to solidify.

[0116] S2.8: Remove the solidified material (soft actuator 4 body) and the base from the mold, and use adhesive to bond the base to the V-shaped fingertip end opening of the body to complete the sealing of the secondary cavity 6 and the production of the soft actuator 4.

[0117] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-mode grasping soft manipulator imitating crab claws, characterized in that: The device comprises a main support plate and at least two soft fingers mounted on the main support plate. Each soft finger comprises a soft actuator and a control tube. The soft actuator comprises a finger actuator and a fingertip actuator. Two spaced-apart fingertip actuators are provided at the end of each finger actuator. The main cavity in the finger actuator is connected to the control tube, forming a first clamping portion between different soft fingers. The secondary cavity in the fingertip actuator passes through the finger actuator and is connected to the control tube. The second clamping portion is formed between two fingertip actuators on the same finger actuator. One end of the finger actuator away from the fingertip actuator is fixed to the flat plate; When the finger actuator and the fingertip actuator are driven by the control tube, they can bend respectively, and the plane where the fingertip actuator is bent is perpendicular to the plane where the finger actuator is bent; The extended sides of the finger actuator and the fingertip actuator are corrugated, and the end of the finger actuator connected to the fingertip actuator is a non-expanded layer to support the fingertip actuator; The auxiliary cavities on the soft actuator are located on both sides of the main cavity, and the finger actuator is provided with a channel for connecting the auxiliary cavities and the control tube; The main cavity and the end of the channel close to the plate are connected to the corresponding control tube, and the control tube is connected to the auxiliary cavity in a one-to-one correspondence; Input pressure to the middle main cavity of each soft actuator through the control tube, so that the finger actuator of each soft finger bends to achieve envelope grasping; Fluid pressure is input into the auxiliary cavities on both sides of each soft actuator through the control tube, and the fingertip actuator at the end of the soft finger bends into a crab claw shape to achieve fingertip clamping.

2. The crab claw-like multi-mode grasping soft manipulator according to claim 1, characterized in that: The main supporting plate is provided with an opening for the control pipe to pass through and a mounting portion for connecting to an external structure.

3. A process for manufacturing a crab claw-like multi-mode gripping soft manipulator, comprising manufacturing the crab claw-like multi-mode gripping soft manipulator as claimed in any one of claims 1 to 2, characterized in that: include: Prepare the material for the soft actuator and pour it into the upper mold and the base mold; The upper mold is equipped with a base end cover with an inner core, and the material is poured into the upper mold to submerge the inner core. The lower mold is then installed to obtain a combined mold. Adjust the posture of the combined mold and pour the material to fill the internal space of the combined mold; After the internal material of the combined mold is formed, the mold is demoulded to obtain the soft actuator body, and the base mold is demoulded to obtain the base. The soft actuator body and the base are combined to form the soft actuator; Connect the control tube to the soft actuator and install it to the main support plate; The mold comprises an upper mold, a lower mold, a base mold, a base end cover and an inner core. The upper mold, the lower mold, the base mold and the inner core are assembled to form a combined mold, and the combined mold is equipped with an open end cover. After the upper and lower molds are assembled, their mold closing positions are kept sealed.

4. The manufacturing process of the multi-mode crab claw-like grasping soft manipulator according to claim 3, characterized in that: Before the material in the mold solidifies, put it into a vacuum drying oven for defoaming.

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