Rigid-flexible coupling manipulator capable of grabbing in multiple modes

Abstract

The rigid-flexible coupling manipulator comprises two rigid-flexible mixed fingers and a finger connecting piece, each rigid-flexible mixed finger comprises a flexible pneumatic driver, an inner skeleton connecting rod mechanism, a quick response mechanism, a pneumatic artificial muscle driver and a self-locking mechanism, the flexible pneumatic driver is divided into a cavity layer and a silica gel entity layer, and the cavity layer is connected with the inner skeleton connecting rod mechanism. The pneumatic artificial muscle driver is composed of a pneumatic artificial muscle, a spring, a linear bearing and four pneumatic artificial muscle driver assemblies. Power of the pneumatic artificial muscle driver is transmitted to the inner skeleton connecting rod mechanism through a self-locking mechanism or a quick response mechanism, and when the inner skeleton connecting rod mechanism and the flexible pneumatic driver are independently activated or act synergistically, the two rigid-flexible mixed fingers have four grabbing modes through manual switching. According to the rigid-flexible coupling finger, the quick response of the pneumatic artificial muscle and the angular velocity amplification capability of the connecting rod mechanism are combined, and the rigid-flexible coupling finger can be bent to 145.14 degrees within 71 milliseconds.

Description

Technical Field

[0001] This invention relates to a rigid-flexible coupled manipulator capable of multi-mode grasping. Background Technology

[0002] Robotic arms, categorized into rigid and flexible types, are an important branch of robotics and have been applied in various scenarios, such as pick-and-place tasks, medical devices, and human-computer interaction. Rigid robotic arms can carry heavy objects and perform precise, repetitive movements, but they offer less protection, requiring additional sensors and complex control algorithms to protect fragile objects. Flexible robotic arms, made from flexible materials, offer high safety and adaptability, making them more suitable for grasping easily deformable and damaged objects. Research findings on flexible robotic arms have been continuously reported in journals such as Science Robotics, Nature Communications, and PANS in recent years. However, their load-bearing capacity is correspondingly weaker. Therefore, improving the load-bearing capacity of flexible robotic arms has become a primary challenge in their engineering applications.

[0003] Flexible robotic arms are typically driven by pressure actuation or tendon. However, with research into smart materials, shape memory alloys, dielectric elastomers, liquid-crystal elastomers, and ionic polymer metal composites have been applied to the design of soft grippers. Different actuation methods enable different gripping techniques. To improve the load capacity of flexible robotic arms, negative pressure suction cups, electrostatic adsorption, and rigid-flexible coupling types can be used. However, different gripping methods are suitable for different objects; for example, negative pressure suction grippers are suitable for objects with relatively flat surfaces. For objects with lower surface hardness than ordinary flexible materials, such as fragile tofu, jelly, and cakes, a more human-like contact gripping method is needed. To improve the load capacity of flexible robotic arms while providing good protection for different types of objects, rigid-flexible coupling structures offer the potential to solve both problems simultaneously. Moreover, gas-driven operation has the characteristic of rapid response, which is beneficial to improving the response speed of rigid-flexible coupling manipulators.

[0004] In conclusion, research focusing on pneumatic flexible manipulators with rigid-flexible coupling structures is of great significance for improving the performance of flexible manipulators and expanding their wide range of engineering applications.

[0005] Existing rigid-flexible coupling manipulators have achieved the grasping of deformable and heavy objects. However, most of them cannot grasp moving objects, which limits their application in unstructured scenarios. Moreover, most current rigid-flexible coupling manipulators require at least two drive sources, which increases the need for auxiliary equipment. Summary of the Invention

[0006] The purpose of this invention is to provide a rigid-flexible coupled manipulator capable of multi-mode grasping. Through the cooperation of a flexible pneumatic actuator and an internal skeleton linkage mechanism, the manipulator can be used to grasp easily deformable objects without damage, stably hold heavy objects, and quickly capture moving objects.

[0007] This invention proposes a multi-mode grasping rigid-flexible coupled manipulator, comprising two rigid-flexible hybrid fingers and a finger connector. Each rigid-flexible hybrid finger includes a flexible pneumatic actuator, an endoskeleton linkage mechanism, a rapid response mechanism, a pneumatic artificial muscle actuator, a self-locking mechanism, a power conversion bolt, and two pins. The two rigid-flexible hybrid fingers are connected by the finger connector, wherein: The flexible pneumatic actuator is divided into two independent air chambers, with the upper chamber being a cavity layer and the lower silicone solid layer. The cavity layer is divided into six small chambers. The shape of the small chamber near the fingertip is the same as that of the fingertip, with an arc. The flexible pneumatic actuator has a slot, and the endoskeleton linkage mechanism is placed in the slot. The silicone solid layer has through holes, and the flexible pneumatic actuator is connected to the endoskeleton linkage mechanism using rivets. The endoskeleton linkage mechanism consists of five links, input link S, and input link F. One end of the third link is connected to one end of the fifth link via a rivet, and the other end of the third link is connected to one end of the first link via a rivet. One end of the fourth link is connected to one side of the fifth link via a rivet, and the other end is connected to one end of the second link via a rivet. Input links S and F of the endoskeleton linkage mechanism are respectively connected to one end of the self-locking mechanism and the rapid response mechanism. The other ends of the self-locking mechanism and the rapid response mechanism are connected to the pneumatic artificial muscle actuator. The pneumatic artificial muscle actuator consists of a pneumatic artificial muscle, two springs, two linear bearings, two cylindrical pins, a first pneumatic artificial muscle actuator assembly, a second pneumatic artificial muscle actuator assembly, a third pneumatic artificial muscle actuator assembly, and a fourth pneumatic artificial muscle actuator assembly. The first and second pneumatic artificial muscle actuator assemblies are connected by two cylindrical pins, and the two linear bearings are fitted onto the two cylindrical pins. Additionally, the two springs are also fitted onto the two cylindrical pins. The two linear bearings are embedded in the fourth pneumatic artificial muscle actuator assembly. One end of the pneumatic artificial muscle extends into the fourth pneumatic artificial muscle actuator assembly, and the other end is connected to one end of a PU tube. The other end of the PU tube extends from the first pneumatic artificial muscle actuator assembly. The third pneumatic artificial muscle actuator assembly is fixed above the first and second pneumatic artificial muscle actuator assemblies by bolts. The self-locking mechanism consists of connecting rod S1, connecting rod S2 and sliding groove; the rapid response mechanism consists of connecting rod F1 and connecting rod F2; the pneumatic artificial muscle actuator is connected to the rapid response mechanism and the self-locking mechanism through the first pin and the second pin respectively, providing linear motion for the self-locking mechanism or the rapid response mechanism; The power of the pneumatic artificial muscle actuator is transmitted to the endoskeleton linkage mechanism through a self-locking mechanism or a rapid response mechanism. When the endoskeleton linkage mechanism and the flexible pneumatic actuator are activated independently or in synergy, the two rigid-flexible hybrid fingers have four grasping modes, which are manually switched. In modes one, two, and three, the input link-S is connected to the first link of the endoskeleton linkage mechanism via a power conversion bolt. In mode four, the input link-F is connected to the first link via a power conversion bolt. In modes two and three... In mode four, the second pin is inserted into the through hole connecting the fourth pneumatic artificial muscle actuator assembly and the self-locking mechanism's connecting rod S1. The other end of connecting rod S1 is connected to one end of connecting rod S2, and this end of connecting rod S2 is locked in the sliding groove, restricting its movement within the sliding groove. The other end of connecting rod S2 is connected to one end of the input connecting rod -S. In mode four, the first pin is inserted into the through hole connecting the fourth pneumatic artificial muscle actuator assembly and the rapid response mechanism's connecting rod F1. The other end of connecting rod F1 is connected to connecting rod F2, and the other end of connecting rod F2 is connected to one end of the input connecting rod -F. The four crawling methods are described below: Mode 1: The self-locking mechanism and the rapid response mechanism are disconnected from the pneumatic artificial muscle actuator, and the input link-S is connected to the first link of the endoskeleton linkage mechanism via a power conversion bolt; when the flexible pneumatic actuator is driven alone, the gripper can grasp lightweight and fragile objects; the endoskeleton linkage mechanism is passively bent under the action of the flexible pneumatic actuator. Mode 2: As the weight of the target object increases, a self-locking mechanism is set up to connect the mechanism and the pneumatic artificial muscle actuator. The input link-S is still connected to the first link through the power conversion bolt. When the object is easily deformable and fragile, the flexible pneumatic actuator and the endoskeleton linkage mechanism can be activated in sequence to achieve non-damaging grasping. If the target is not easily damaged, the flexible pneumatic actuator and the endoskeleton linkage mechanism can work simultaneously, or the endoskeleton linkage mechanism can work alone. Mode 3: In Mode 2, if the object is too heavy to hold, the input pressure of the pneumatic artificial muscle actuator is increased to the self-locking air pressure P. lock Input is then disabled, causing one finger to enter a self-locking state, which can be maintained without continuous input; the other finger is bent, and the input pressure is less than the self-locking air pressure P. lock This helps to hook onto the object; to release the finger's self-locking state, the input pressure can be increased again to the self-locking air pressure P. lock And when you turn off input, your finger returns to its initial position; Mode 4: The rapid response mechanism is configured as an endoskeleton linkage mechanism connected to a pneumatic artificial muscle actuator via a first pin. The input linkage-F is connected to the first linkage via a power conversion bolt. Due to the short response time and high output force of the pneumatic artificial muscle actuator, this connection method enables the rigid-soft coupling manipulator to possess both short response time and high output force, giving it the potential to capture moving objects.

[0008] In this invention, the pneumatic artificial muscle consists of a PU tubing, a silicone tubing (55 mm long, 7 mm outer diameter, 2 mm thick), a braided sleeve, cable ties, and a fourth pneumatic artificial muscle actuator assembly (as an end cap). One end of the silicone tubing is inserted into the PU tubing, and the other end is connected to the fourth pneumatic artificial muscle actuator assembly. The braided sleeve is fitted over the silicone tubing, and both ends are secured with cable ties. The braided sleeve deforms as the silicone tubing elongates and expands, limiting the maximum axial and radial strain of the silicone tubing and protecting it from damage due to large deformation.

[0009] The structure of the fingers is modeled after the human hand. The human hand has a relatively hard bone structure inside and a relatively soft skin and flesh tissue on the outside, which provides the structural foundation for the hand to grasp easily deformable and heavy objects without damage. Inspired by this, the flexible pneumatic actuator is divided into two independent air chambers. The flexible pneumatic actuator on the outside of the finger is used for gentle contact with the object, while the endoskeleton linkage mechanism clamped between the two air chambers provides sufficient gripping force. Pneumatic artificial muscles have advantages such as significant elongation, large output force, and low response time, and are therefore designed as pneumatic artificial muscle actuators to drive the endoskeleton linkage mechanism. The pneumatic artificial muscle actuator provides linear motion for the self-locking mechanism or the quick-response mechanism. The power conversion bolt, the first pin, and the second pin are responsible for connecting the pneumatic artificial muscle actuator and the endoskeleton linkage mechanism to the self-locking mechanism or the quick-response mechanism, allowing the gripper to switch between different gripping modes. Therefore, they transmit the power of the pneumatic artificial muscle actuator to the endoskeleton linkage mechanism through the self-locking mechanism or the quick-response mechanism. When the endoskeleton linkage mechanism and the flexible pneumatic actuator are activated independently or in synergy, the two-finger rigid-soft coupling gripper offers four gripping modes. Switching between these modes is manual.

[0010] The beneficial effects of this invention are as follows: (1) Inspired by the structure of the human hand, this invention develops a rigid-soft coupling manipulator with a flexible pneumatic actuator on the outside and a linkage mechanism on the inside. This manipulator can grasp fragile and easily deformable objects.

[0011] (2) The present invention designs a self-locking mechanism that allows the finger to be locked in a specific bent state without continuous input, enabling the robotic hand to hold heavy objects.

[0012] (3) The present invention combines the rapid response of pneumatic artificial muscle and the angular velocity amplification capability of linkage mechanism, and the rigid-flexible coupling finger can bend to 145.14 degrees within 71 milliseconds. Attached Figure Description

[0013] Figure 1 This is the isometric drawing of the rigid-soft coupling manipulator of the present invention.

[0014] Figure 2 This is a schematic diagram of the rigid-soft coupling finger of the present invention.

[0015] Figure 3 This is a schematic diagram of the structure of the soft pneumatic actuator of the present invention.

[0016] Figure 4 This is a schematic diagram of the endoskeleton linkage of the present invention.

[0017] Figure 5 This is a schematic diagram of the structure of the pneumatic artificial muscle actuator of the present invention.

[0018] Figure 6 This is a schematic diagram of the self-locking mechanism and the rapid response mechanism of the present invention.

[0019] In the diagram, the following are the labels: 1 is a flexible pneumatic actuator; 2 is an endoskeleton linkage mechanism; 3 is a pneumatic artificial muscle actuator; 4 is a self-locking mechanism; 5 is a rapid response mechanism; 6 is a power conversion bolt; 7 is the first pin; 8 is the second pin; 1.1 is the chamber layer of the flexible pneumatic actuator; 1.2 is the silicone solid layer of the flexible pneumatic actuator; 2.1 is the first link; 2.2 is the second link; 2.3 is the third link; 2.4 is the fourth link; 2.5 is the fifth link; 2.6 is the input link-S; 2.7 is the input link-F; 3.1 is the pneumatic artificial muscle; 3.2 is the spring; 3.3 is the linear bearing; 3.4 is the cylindrical pin; 3.5 is the first pneumatic artificial muscle actuator assembly; 3.6 is the second pneumatic artificial muscle actuator assembly; 3.7 is the third pneumatic artificial muscle actuator assembly; 3.8 is the fourth pneumatic artificial muscle actuator assembly; 4.1 4.1 is connecting rod S1; 4.2 is connecting rod S2; 4.3 is sliding groove; 5.1 is connecting rod F1; 5.2 is connecting rod F2. Detailed Implementation

[0020] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0021] Example 1: As Figure 1 As shown, an embodiment of the present invention provides a rigid-flexible coupling manipulator, which includes two rigid-flexible coupling fingers and a finger connector. Figure 2As shown, a rigid-flexible coupled finger consists of a flexible pneumatic actuator 1, an endoskeleton linkage mechanism 2, a pneumatic artificial muscle actuator 3, a self-locking mechanism 4, a rapid response mechanism 5, a power conversion bolt 6, a first pin 7, and a second pin 8. The flexible pneumatic actuator 1 consists of two independent chambers: a chamber layer 1.1 and a silicone solid layer 1.2; the chambers of the flexible pneumatic actuator 1.1 and the silicone solid layer 1.2 maintain the same input air pressure. The endoskeleton linkage mechanism 2 consists of a first link 2.1, a second link 2.2, a third link 2.3, a fourth link 2.4, a fifth link 2.5, an input link-S, and an input link-F. One end of the third link 2.3 is connected to one end of the fifth link 2.5 via a rivet, and the other end of the third link 2.3 is connected to one end of the first link 2.1 via a rivet. One end of the fourth link 2.4 is connected to one side of the fifth link 2.5 via a rivet, and the other end is connected to one end of the second link 2.2 via a rivet. The input links-S 2.6 and-F 2.7 of the endoskeleton linkage mechanism 2 are respectively connected to one end of the self-locking mechanism 4 and the rapid response mechanism 5. The other ends of the self-locking mechanism 4 and the rapid response mechanism 5 are connected to the pneumatic artificial muscle actuator 3. In Mode 1, Mode 2 and Mode 3, the input link - S2.6 is connected to the first link 2.1 of the endoskeleton linkage mechanism via a power conversion bolt; in Mode 4, the input link - F2.7 is connected to the first link 2.1 via a power conversion bolt.

[0022] like Figure 3 As shown, the flexible pneumatic actuator 1 can be divided into two layers: the upper layer is the chamber layer 1.1 of the flexible pneumatic actuator, and the lower layer is the silicone solid layer 1.2 of the flexible pneumatic actuator. The flexible pneumatic actuator has six small chambers, among which the chamber at the fingertip has a different cross-section than the other five chambers due to the curved shape of the fingertip. Three through holes in the silicone solid layer 1.2 are used to assemble the flexible pneumatic actuator 1 with the endoskeleton linkage mechanism. The chamber wall thickness of the chamber layer 1.1 is 3mm. When high-pressure gas is input into the chamber of the chamber layer 1.1, the chamber of the chamber layer 1.1 expands and elongates along the finger axis. Because the silicone solid layer 1.2 is thicker, its axial deformation relative to the chamber layer 1.1 is much smaller than that of the chamber layer 1.1, so the flexible pneumatic actuator 1 bends under air pressure.

[0023] like Figure 4As shown, the endoskeleton linkage mechanism consists of input link-S 2.6, input link-F 2.7, a first link 2.1, a second link 2.2, a third link 2.3, two fourth links 2.4, and a fifth link 2.5. Input links-S 2.6 and-F 2.7 are located on opposite sides of the first link 2.1, connecting to it in different modes. Their other ends connect to the second link 2.2, which remains stationary. The third link 2.3 has three connection points, connecting to one end of the first link 2.1, the second link 2.2, and the fifth link 2.5 respectively. One end of the fourth link 2.4 connects to the second link 2.2, and the other end connects to the fifth link 2.5. The endoskeleton linkage mechanism is a single-degree-of-freedom linkage mechanism; when input link-S 2.6 or input link-F 2.7 rotates, the rapid response mechanism 5 also rotates accordingly. All links are made using 3D printing technology, and the corresponding links are connected using rivets.

[0024] like Figure 5As shown, the pneumatic artificial muscle actuator consists of a pneumatic artificial muscle 3.1, two springs 3.2, two linear bearings 3.3, two cylindrical pins 3.4, a first pneumatic artificial muscle actuator assembly 3.5, a second pneumatic artificial muscle actuator assembly 3.6, a third pneumatic artificial muscle actuator assembly 3.7, and a fourth pneumatic artificial muscle actuator assembly 3.8. The first pneumatic artificial muscle actuator assembly 3.5 and the second pneumatic artificial muscle actuator assembly 3.6 are connected by two cylindrical pins 3.4, the two linear bearings 3.3 are fitted onto the two cylindrical pins 3.4, and the two springs 3.2 are also fitted onto the two cylindrical pins 3.4 respectively. Two linear bearings 3.3 are embedded in the fourth pneumatic artificial muscle actuator assembly 3.8. One end of the pneumatic artificial muscle 3.1 is connected to the fourth pneumatic artificial muscle actuator assembly, which serves as the end cap of the pneumatic artificial muscle 3.1. The PU tube of the pneumatic artificial muscle extends from the first pneumatic artificial muscle actuator assembly 3.5. The third pneumatic artificial muscle actuator assembly 3.7 is bolted above the first and second pneumatic artificial muscle actuator assemblies 3.5 and 3.6. The pneumatic artificial muscle 3.1 consists of a PU tube, a silicone tube (55 mm long, 7 mm outer diameter, 2 mm thick), a braided sleeve, cable ties, and the fourth pneumatic artificial muscle actuator assembly (as the end cap). One end of the silicone tube is inserted into the PU tube, and the other end is connected to the fourth pneumatic artificial muscle actuator assembly. The braided sleeve covers the silicone tube, and both ends are secured with cable ties. At an input pressure of 350 kPa, the maximum displacement and force of the pneumatic artificial muscle 3.1 are 43.61 mm and 24.2 N, respectively. At an input pressure of 300 kPa, the maximum displacement and force of the pneumatic artificial muscle actuator are 38.34 mm and 16.22 N, respectively. When gas is introduced into the pneumatic artificial muscle, the silicone tube expands and elongates, enabling the self-locking mechanism 4 to move along the cylindrical pin. After the input is closed, two springs help the pneumatic artificial muscle and the self-locking mechanism 4 return to their initial positions. In particular, the cooperation between the pneumatic artificial muscle and the springs plays an important role in achieving finger self-locking.

[0025] like Figure 6As shown, the self-locking mechanism consists of connecting rods S1 4.1, S2 4.2, and sliding groove 4.3; the rapid response mechanism consists of connecting rods F1 5.1 and F2 5.2; the rapid response mechanism and the self-locking mechanism are connected below the pneumatic artificial muscle actuator via a first pin and a second pin respectively, providing linear motion for either the self-locking mechanism or the rapid response mechanism; the first pin and the second pin do not work simultaneously. In modes two and three, the second pin is inserted into the through hole of connecting rod S1 of the fourth pneumatic artificial muscle actuator assembly and the self-locking mechanism; in mode four, the first pin is inserted into the through hole of connecting rod F1 of the fourth pneumatic artificial muscle actuator assembly and the rapid response mechanism. The linear motion of the pneumatic artificial muscle actuator is transmitted to the rapid response mechanism or the self-locking mechanism by manually switching the pins.

[0026] The finger is fabricated in two steps: a linkage mechanism and a flexible pneumatic actuator. The flexible actuator is manufactured as follows: First, silicone liquid A and liquid B are mixed and stirred until fully combined. Then, the mixture is placed in a vacuum chamber, and a vacuum pump is used to remove air from the mixture. The mixture is then injected into a mold using a syringe. For ease of manufacturing, the flexible pneumatic actuator is manufactured in two separate parts, cast separately, and then glued together. Meanwhile, the endoskeleton linkage mechanism, self-locking mechanism, and rapid response mechanism are manufactured using 3D printing. Finally, the two parts are assembled to create a rigid-flexible coupled finger.

[0027] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0028] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A rigid-flexible coupling manipulator capable of multi-mode grasping, characterized in that... The system includes two rigid-flexible hybrid fingers and a finger connector. Each rigid-flexible hybrid finger includes a flexible pneumatic actuator, an endoskeleton linkage mechanism, a rapid response mechanism, a pneumatic artificial muscle actuator, a self-locking mechanism, a power conversion bolt, and two pins. The two rigid-flexible hybrid fingers are connected by the finger connector, wherein: The flexible pneumatic actuator is divided into two independent air chambers, with the upper chamber being a cavity layer and the lower silicone solid layer. The cavity layer is divided into six small chambers. The shape of the small chamber near the fingertip is the same as that of the fingertip, with an arc. The flexible pneumatic actuator has a slot, and the endoskeleton linkage mechanism is placed in the slot. The silicone solid layer has through holes, and the flexible pneumatic actuator is connected to the endoskeleton linkage mechanism using rivets. The endoskeleton linkage mechanism consists of five links, input link S, and input link F. One end of the third link is connected to one end of the fifth link via a rivet, and the other end of the third link is connected to one end of the first link via a rivet. One end of the fourth link is connected to one side of the fifth link via a rivet, and the other end is connected to one end of the second link via a rivet. Input links S and F of the endoskeleton linkage mechanism are respectively connected to one end of the self-locking mechanism and the rapid response mechanism. The other ends of the self-locking mechanism and the rapid response mechanism are connected to the pneumatic artificial muscle actuator. The pneumatic artificial muscle actuator consists of a pneumatic artificial muscle, two springs, two linear bearings, two cylindrical pins, a first pneumatic artificial muscle actuator assembly, a second pneumatic artificial muscle actuator assembly, a third pneumatic artificial muscle actuator assembly, and a fourth pneumatic artificial muscle actuator assembly. The first and second pneumatic artificial muscle actuator assemblies are connected by two cylindrical pins, and the two linear bearings are fitted onto the two cylindrical pins. Additionally, the two springs are also fitted onto the two cylindrical pins. The two linear bearings are embedded in the fourth pneumatic artificial muscle actuator assembly. One end of the pneumatic artificial muscle extends into the fourth pneumatic artificial muscle actuator assembly, and the other end is connected to one end of a PU tube. The other end of the PU tube extends from the first pneumatic artificial muscle actuator assembly. The third pneumatic artificial muscle actuator assembly is fixed above the first and second pneumatic artificial muscle actuator assemblies by bolts. The self-locking mechanism consists of connecting rod S1, connecting rod S2 and sliding groove; the rapid response mechanism consists of connecting rod F1 and connecting rod F2; the pneumatic artificial muscle actuator is connected to the rapid response mechanism and the self-locking mechanism through the first pin and the second pin respectively, providing linear motion for the self-locking mechanism or the rapid response mechanism; The power of the pneumatic artificial muscle actuator is transmitted to the endoskeleton linkage mechanism through a self-locking mechanism or a rapid response mechanism. When the endoskeleton linkage mechanism and the flexible pneumatic actuator are activated independently or in synergy, the two rigid-flexible hybrid fingers have four grasping modes, which are manually switched. In modes one, two, and three, the input link-S is connected to the first link of the endoskeleton linkage mechanism via a power conversion bolt. In mode four, the input link-F is connected to the first link via a power conversion bolt. In modes two and three... In mode four, the second pin is inserted into the through hole connecting the fourth pneumatic artificial muscle actuator assembly and the self-locking mechanism's connecting rod S1. The other end of connecting rod S1 is connected to one end of connecting rod S2, and this end of connecting rod S2 is locked in the sliding groove, restricting its movement within the sliding groove. The other end of connecting rod S2 is connected to one end of the input connecting rod -S. In mode four, the first pin is inserted into the through hole connecting the fourth pneumatic artificial muscle actuator assembly and the rapid response mechanism's connecting rod F1. The other end of connecting rod F1 is connected to connecting rod F2, and the other end of connecting rod F2 is connected to one end of the input connecting rod -F. The four crawling methods are described below: Mode 1: The self-locking mechanism and the rapid response mechanism are disconnected from the pneumatic artificial muscle actuator, and the input link-S is connected to the first link of the endoskeleton linkage mechanism via a power conversion bolt; when the flexible pneumatic actuator is driven alone, the gripper can grasp lightweight and fragile objects; the endoskeleton linkage mechanism is passively bent under the action of the flexible pneumatic actuator. Mode 2: As the weight of the target object increases, a self-locking mechanism is set up to connect the mechanism and the pneumatic artificial muscle actuator. The input link-S is still connected to the first link through the power conversion bolt. When the object is easily deformable and fragile, the flexible pneumatic actuator and the endoskeleton linkage mechanism can be activated in sequence to achieve non-damaging grasping. If the target is not easily damaged, the flexible pneumatic actuator and the endoskeleton linkage mechanism can work simultaneously, or the endoskeleton linkage mechanism can work alone. Mode 3: In Mode 2, if the object is too heavy to hold, the input pressure of the pneumatic artificial muscle actuator is increased to the self-locking air pressure P. lock Input is then disabled, causing one finger to enter a self-locking state, which can be maintained without continuous input; the other finger is bent, and the input pressure is less than the self-locking air pressure P. lock This helps to hook onto the object; to release the finger's self-locking state, the input pressure can be increased again to the self-locking air pressure P. lock And when you turn off input, your finger returns to its initial position; Mode 4: The rapid response mechanism is configured as an endoskeleton linkage mechanism connected to a pneumatic artificial muscle actuator via a first pin. The input linkage-F is connected to the first linkage via a power conversion bolt. Due to the short response time and high output force of the pneumatic artificial muscle actuator, this connection method enables the rigid-soft coupling manipulator to possess both short response time and high output force, giving it the potential to capture moving objects.

2. The multi-mode grasping rigid-flexible coupling manipulator according to claim 1, characterized in that... The pneumatic artificial muscle consists of a PU tubing, a silicone tubing, a braided sleeve, cable ties, and a fourth pneumatic artificial muscle actuator assembly. One end of the silicone tubing is inserted into the PU tubing, and the other end is connected to the fourth pneumatic artificial muscle actuator assembly. The braided sleeve is fitted over the silicone tubing and secured at both ends with cable ties. The braided sleeve deforms as the silicone tubing stretches and expands.

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