A multi-joint magnetic soft mechanical finger and its manufacturing method

Abstract

The present invention discloses a multi-joint magnetic soft robotic finger and a manufacturing method. The soft robotic finger includes a fixed end, on which a plurality of robotic fingers are mounted. The robotic finger includes a connecting portion connected to the fixed end, on which multiple sections of soft material representing finger joints are fixed. The soft material is filled with magnetic nanoparticle material, and the mass fraction of the magnetic nanoparticle material in each joint is designed according to the grasping requirements of the object. The control method of the soft robotic finger of the present invention is simple. The spatial position of the finger can be obtained by simply opening and closing a fixed magnetic field, and various pre-designed movements can be completed. The soft robotic finger of the present invention can be designed to change the spatial position of each finger for objects of various structures through profiling, thereby improving the reliability and accuracy of the operation. The design method of the soft robotic finger of the present invention is simple, the manufacturing cost is low, and the reconfigurability is better.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic soft materials and manipulators, and in particular to a multi-joint magnetic soft manipulator finger and a manufacturing method thereof. Background Art

[0002] Most existing flexible robotic fingers are implemented using pneumatic or mechanical structures. Pneumatic flexible fingers typically achieve complex finger movements by controlling the air pressure within their internal air chambers. These control algorithms are complex, and the accuracy of the movements depends heavily on the precision and reliability of the pneumatic components. Mechanical flexible fingers typically use motors to drive corresponding mechanisms to achieve spatial displacement of the flexible end to achieve the desired spatial position. These mechanisms are costly and difficult to control. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-joint magnetic soft robotic finger and a manufacturing method thereof to overcome the deficiencies in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention discloses a method for manufacturing a multi-joint magnetic soft robotic finger, comprising the following steps:

[0006] Step 1: Preliminary design of a soft manipulator, the manipulator comprising a fixed end, a plurality of connecting parts mounted on the fixed end, and a plurality of sections of soft material representing finger joints fixed on the connecting parts;

[0007] Step 2: Obtain the spatial position of the entire manipulator and its fingers based on the soft manipulator's grasping requirements for the object;

[0008] Step 3: Obtain the deformation deflection of each finger according to the spatial position of the finger;

[0009] Step 4: Obtain the deformation deflection of each joint of the finger according to the spatial posture of each finger;

[0010] Step 5: Determine the magnetic field distribution force that each joint should satisfy based on the cantilever beam deflection formula;

[0011] Step 6: Select a soft material with a fixed magnetic field strength and containing magnetic nanoparticles, and determine the mass fraction of the magnetic nanoparticles in the soft material based on the magnetic field distribution force of each joint;

[0012] Step 7: Use an extrusion 3D printer to form the soft robotic arm structure, and then obtain flexible fingers through solidification.

[0013] Preferably, the grasping requirements of the object are determined by the shape, curvature and volume parameters of the object.

[0014] Preferably, the connecting portion of the soft manipulator is made of a colloidal material that does not contain magnetic particles.

[0015] Preferably, the soft material is composed of magnetic functional nanoparticle material, colloidal material and additives, wherein the colloidal material is a shear-thinning material to facilitate subsequent solidification.

[0016] Preferably, the colloid material is gel or gelatin.

[0017] Preferably, the deflection formula of the cantilever beam is:

[0018]

[0019] where y i is the deflection size, q is the magnetic field distribution force, E is the elastic modulus, I z is the section moment of inertia, l i represents the total length of the corresponding joint, and x represents the position of the corresponding joint in the straight line direction.

[0020] Preferably, the mass fraction of the magnetic nanoparticle material in the soft material is regulated and designed by adjusting the mixing ratio of the magnetic functional nanoparticle material, the colloidal material and the additive in the soft material.

[0021] The present invention also discloses a multi-joint magnetic soft robotic finger, which includes a fixed end on which a plurality of robotic fingers are mounted. The robotic finger includes a connecting portion connected to the fixed end, on which a plurality of sections of soft material representing finger joints are fixed. The soft material is filled with magnetic nanoparticle material, and the mass fraction of the magnetic nanoparticle material in each joint is designed according to the grasping requirements of the object and the required spatial posture of the robotic finger.

[0022] Beneficial effects of the present invention:

[0023] (1) The control method of the soft robotic finger of the present invention is simple. The spatial position of the finger can be obtained by simply turning on and off a fixed magnetic field, and various pre-designed movements can be completed.

[0024] (2) The soft robotic finger of the present invention can be designed to adapt to various objects with different structures, thereby changing the spatial position of each finger and improving the reliability and accuracy of the operation;

[0025] (3) The design method of the soft robotic finger of the present invention is simple, the manufacturing cost is low, and the reconfigurability is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1It is a structural diagram of an embodiment of the present invention;

[0027] Figure 2 is a cross-sectional view of a finger according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of a grasped object according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of finger parameter calculation according to an embodiment of the present invention;

[0030] In the figure: 1-fixed end, 2-mechanical finger, 3-soft material, 4-connecting part. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the present invention.

[0032] The present invention provides a multi-joint magnetic soft robotic finger and a manufacturing method thereof, comprising the following steps:

[0033] Step 1: Preliminary design of a soft manipulator, the manipulator comprising a fixed end, a plurality of connecting parts mounted on the fixed end, and a plurality of sections of soft material representing finger joints fixed on the connecting parts;

[0034] Step 2: Obtain the spatial position of the entire manipulator and its fingers based on the soft manipulator's grasping requirements for the object;

[0035] Step 3: Obtain the deformation deflection of each finger according to the spatial position of the finger;

[0036] Step 4: Obtain the deformation deflection of each joint of the finger according to the spatial posture of each finger;

[0037] Step 5: Determine the magnetic field distribution force that each joint should satisfy based on the cantilever beam deflection formula;

[0038] Step 6: Select a soft material with a fixed magnetic field strength and containing magnetic nanoparticles, and determine the mass fraction of the magnetic nanoparticles in the soft material based on the magnetic field distribution force of each joint;

[0039] Step 7: Use an extrusion 3D printer to form the soft robotic arm structure, and then obtain flexible fingers through solidification.

[0040] The specific stages are as follows:

[0041] Phase 1:

[0042] Conduct preliminary structural design of the soft manipulator: Figure 1 、 Figure 2 As shown, the soft manipulator includes a fixed end 1, on which are mounted several manipulator fingers 2, and the manipulator fingers include a connecting portion 4 connected to the fixed end, on which are fixed multiple sections of soft material 3 representing finger joints, and the soft material is filled with magnetic nanoparticle material, and the mass fraction of the magnetic nanoparticle material in each joint is designed according to the grasping requirements of the object and the required spatial posture of the manipulator fingers.

[0043] Phase 2:

[0044] Determine various parameters of the soft manipulator: such as Figure 3 As shown, the object of this shape needs to be grasped by a soft robot. The shaded part is assumed to be the position of the fingers. According to the grasping requirements, the number and position of the entire robot fingers can be determined, and then the number of each finger joint and the curvature of each knuckle can be determined, and the deflection of each finger in space can be determined, such as Figure 4 As shown in Figure (a).

[0045] According to the deflection of the fixed end, Figure 4 Figure (a) is simplified to Figure 4 In Figure (b), each joint can be viewed as a cantilever beam under the magnetic field distribution force q. The deflection of one of the joints in joint i is the spatial position of the knuckle according to the grasping requirement. The deflection generated by the magnetic field distribution force is:

[0046]

[0047] Where q is the magnetic field distribution force, E is the elastic modulus, I z is the section moment of inertia, l i represents the total length of the corresponding joint, and x represents the position of the corresponding joint in the straight line direction.

[0048] Since the elastic modulus E of the soft material remains basically unchanged, and the density structure of the later 3D printing remains basically unchanged, it can be known that its section inertia moment I z Basically remain unchanged, the size of x is known according to the shape of the object, y i It is a single-valued function of q. The magnetic field distribution force q is related to the mass fraction of magnetic particles and the external magnetic field. Assuming the external magnetic field strength is constant, we can know that y i The structure design can be carried out based on the mass fraction of magnetic particles.

[0049] Phase 3:

[0050] Manufacturing of soft manipulators: A soft material with a fixed magnetic field strength and containing magnetic nanoparticles is selected, and the mass fraction of the magnetic nanoparticles in the soft material is determined according to the magnetic field distribution force of each joint. The material of the connecting part of the soft manipulator adopts a colloidal material without magnetic particles; the soft material is composed of magnetic functional nanoparticles, colloidal materials and additives, among which the colloidal material is a shear-thinning material to facilitate subsequent solidification; the colloidal material is specifically made of gel or gelatin; the soft manipulator structure is formed by an extrusion 3D printer, and then flexible fingers are obtained by solidification to obtain a soft manipulator.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for manufacturing a multi-joint magnetic soft robotic finger, characterized in that: The steps include: Step 1: Preliminary design of a soft manipulator, the manipulator comprising a fixed end, a plurality of connecting parts mounted on the fixed end, and a plurality of sections of soft material representing finger joints fixed on the connecting parts; Step 2: Obtain the spatial position of the entire manipulator and its fingers based on the soft manipulator's grasping requirements for the object; Step 3: Obtain the deformation deflection of each finger according to the spatial position of the finger; Step 4: Obtain the deformation deflection of each joint of the finger according to the spatial posture of each finger; Step 5: Determine the magnetic field distribution force that each joint should satisfy based on the cantilever beam deflection formula; Step 6: Select a soft material with a fixed magnetic field strength and containing magnetic nanoparticles, and determine the mass fraction of the magnetic nanoparticles in the soft material based on the magnetic field distribution force of each joint; Step 7: Use an extrusion 3D printer to form the soft robotic arm structure, and then obtain flexible fingers through solidification.

2. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 1, wherein: The grasping requirements of the object are determined by the shape, curvature and volume parameters of the object.

3. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 1, characterized in that: The connecting part of the soft manipulator is made of a colloidal material that does not contain magnetic particles.

4. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 3, wherein: The soft material comprises a magnetic nanoparticle material, a colloidal material and an additive, wherein the colloidal material is a shear-thinning material to facilitate subsequent solidification.

5. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 3, wherein: The colloidal material is specifically gel or gelatin.

6. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 1, wherein: The deflection formula of the cantilever beam is: in is the deflection size, q is the magnetic field distribution force, E is the elastic modulus, I z is the moment of inertia of the section, represents the total length of the corresponding joint, and x represents the position of the corresponding joint in the straight line direction.

7. The method for manufacturing a multi-joint magnetic soft robotic finger according to claim 3, wherein: The mass fraction of the magnetic nanoparticle material in the soft material is regulated and designed by adjusting the mixing ratio of the magnetic nanoparticle material, the colloidal material and the additive in the soft material.

8. A soft robotic finger manufactured according to the method for manufacturing a multi-joint magnetic soft robotic finger according to any one of claims 1 to 7, characterized in that: The soft robotic arm includes a fixed end, on which are mounted several robotic fingers. The robotic fingers include a connecting portion connected to the fixed end, on which are fixed multiple sections of soft material representing finger joints. The soft material is filled with magnetic nanoparticle material. The mass fraction of the magnetic nanoparticle material in each joint is designed based on the grasping requirements of the object and the required spatial posture of the robotic finger.

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