一种可适用复杂曲面物体抓取的变刚度软体机械手
By designing a variable stiffness soft manipulator and combining it with a magnetorheological damper and pneumatic drive, a stable gripping mechanism for complex curved surfaces was achieved, solving the problems of insufficient stability and stiffness of traditional manipulators when gripping fragile items and complex curved surfaces.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEFEI UNIV OF TECH
- Filing Date
- 2023-04-07
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional rigid robotic arms suffer from significant damage and insufficient gripping stability when grasping fragile items and complex curved surfaces. Soft robotic arms have limited longitudinal gripping range and are flexible and easily deformable, making it difficult to meet the gripping requirements of complex curved surfaces.
Design a variable stiffness soft manipulator suitable for grasping complex curved objects. The manipulator uses a magnetorheological damper with magnetorheological fluid to achieve variable stiffness of the soft finger. Combining lateral and longitudinal grasping designs, the manipulator utilizes a pneumatic drive and rope transmission mechanism. The stiffness of the soft finger is changed by controlling the on and off of the magnetorheological damper.
It improves the gripping stability and load capacity of the soft robotic arm, enhances the gripping force on complex curved objects, and meets the rigidity and stability requirements of the gripped objects.
Smart Images
Figure CN116100586B_ABST