Tensioning integral structure bistable flexible gripper with adjustable clamping performance

Abstract

The invention relates to a tensioning overall structure bistable flexible gripper with adjustable clamping performance. The tensioning overall structure bistable flexible gripper comprises a base, a driving module, a tensioning bistable mechanism and a pair of flexible clamping jaws. The driving module comprises an electric push rod and two steering engines, the tensioning bistable mechanism comprises a trigger rod, a pair of triangular clamping plates, a pair of floating plates and three sets of springs, the components are hinged, the first two sets of springs are connected to nodes of the components respectively, and the lower ends of the third set of springs are connected to the steering engines by winding a pull rope around the nodes on the base. The grabbing performance is adjusted through rotation of the steering engine, and the grabbing performance comprises the clamping force and the anti-collision capacity of the grabbing hand; when the trigger rod is collided by the outside and moves inwards and reaches a trigger state, the gripper is quickly closed, and the gripping process is completed; the electric push rod is pushed out to drive the trigger rod to move forwards so as to finish the gripper opening process, and the trigger rod moves backwards to actively close the gripper; when the gripper is in an open state, the electric push rod stretches out and draws back, the potential energy barrier and the anti-jamming capability required by triggering can be adjusted, and selective gripping can be conducted.

Description

Technical Field

[0001] The invention belongs to the technical field of robot grippers, and in particular relates to a tensegrity structure bistable flexible gripper with adjustable clamping performance. Background Art

[0002] The bistable structure has two stable equilibrium states. When the energy absorbed by the structure reaches the potential energy barrier, it will cross the potential energy high point and quickly switch to another stable state, accompanied by energy output. The use of a bistable structure can increase the grasping speed of the gripper. In addition, the bistable structure does not require continuous external energy input to maintain the steady state, which can make the bistable gripper have a self-maintaining function. The tensegrity structure is generally composed of a compressed rigid unit and a continuous tension rope unit. The tensegrity structure is a rigid-flexible coupling structure, and its structural stiffness can be changed by changing the stiffness and pre-stretching amount of the tension rope unit. In addition, the tensegrity structure has a certain ability to buffer and absorb energy. The current bistable gripper usually cannot adjust the clamping force and potential energy barrier, and only has one grasping mode. This will cause difficulties in grasping objects of different properties (size, hardness, weight).

[0003] Some researchers have proposed a bistable structure with an adjustable potential barrier. One significance of the adjustable potential barrier is that it can selectively grasp objects with different kinetic energies. If the input energy is less than the potential barrier, the structure cannot be triggered. For example, Chinese patent CN113370239B discloses a bistable passive trigger soft gripper with an adjustable energy barrier, and the paper "Yonakang Jiang, Xin Tong, Jian Li, Chongjing Cao, Xing Gao, Yinatian Li. Reprogrammable Bistable Actuators for Multimodal Fast, and Ultrasensitive Grasping." published in the international journal "IEEE / ASME Transactions on Mechatronics". However, the adjustable performance of the bistable gripper is currently mainly limited to the potential barrier, and the adjustment of the grasping force, flexible grasping ability, anti-collision ability, anti-interference energy and energy absorption performance is at a low level, making it difficult to cope with grasped objects of different weights, strengths, kinetic energies, and working environments under different interference conditions. Summary of the invention

[0004] The object of the present invention is to provide a bistable flexible gripper of a tensegrity structure with adjustable clamping performance, the gripper having adjustable tensegrity structure stiffness, clamping force, potential energy barrier, anti-interference ability and anti-collision ability to cope with objects under different conditions and working environments with different interference conditions; the gripper can adjust the clamping force according to factors such as the weight, surface roughness, and structural strength of the grasped object, adjust the potential energy barrier according to the kinetic energy of the grasped object to achieve selective grasping of the object, adjust the tensegrity structure stiffness according to different working environments to adjust the anti-interference ability and anti-collision ability of the gripper, and simultaneously achieve flexible adaptive grasping of the target object.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a tensile integral structure bistable flexible gripper with adjustable clamping performance, comprising a base, a driving module, a tensile bistable mechanism and a pair of flexible claws; the driving module comprises an electric push rod and two servos, the electric push rod is installed in the middle of the base, and the two servos are symmetrically installed on the left and right sides of the base; the tensile bistable mechanism comprises a trigger rod, a pair of triangular splints, a pair of swimming plates and three groups of springs; the trigger rod is composed of a straight rod with a trigger surface on the upper part, a middle rotating connecting part and a lower strip slide groove, the upper end of the push rod of the electric push rod is connected with a top block, and the top block is embedded in the strip slide groove; the pair of triangular splints are symmetrically arranged on the left and right sides of the upper end of the base, and are connected to the rotating connecting parts on the left and right sides of the upper end of the base through the first connecting node at the lower part. The connecting node is rotatably connected; the pair of swimming plates are symmetrically arranged, and the two swimming plates are rotatably connected to the rotating connection part of the trigger rod through the third connection node on the inner side thereof, and the two swimming plates are rotatably connected to the second connection node on the corresponding triangular clamping plate through the fourth connection node on the upper part thereof; the two first springs are arranged front and back, and the left and right ends of the first spring are respectively rotatably connected to the second connection nodes on the two triangular clamping plates; the two second springs are arranged front and back, and the left and right ends of the second spring are respectively rotatably connected to the fifth connection nodes on the two swimming plates; a pull rope is connected to each of the two servos, and the pull rope passes around the corresponding first connection node and is connected to one end of the third spring, and the other end of the third spring is rotatably connected to the fifth connection node on the corresponding swimming plate; the pair of flexible clamps are symmetrically installed on the two triangular clamping plates.

[0006] Furthermore, the base is respectively provided with a plurality of servo mounting holes on the left and right sides, the base is provided with a plurality of push rod mounting holes on the lower part, and a limited slide groove is provided on the upper part of the base; the two servos are symmetrically installed on the left and right sides of the base and are fixedly connected to the servo mounting holes on the left and right sides of the base through fasteners; the electric push rod is installed in the middle part of the base and the lower part thereof is fixedly connected to the push rod mounting holes on the lower part of the base through fasteners; the push rod mounting holes are also used to install the gripper on the end of a robotic arm or a drone; a slider is provided on the upper end of the push rod of the electric push rod, a top block is connected to the slider, the slider slides up and down in the limited slide groove, and the top block slides up and down in the strip slide groove.

[0007] Furthermore, connecting supports are provided on the left and right sides of the upper end of the base, and the connecting supports are rotatably connected to the first connecting node at the lower part of the triangular splint through a key screw, and a narrow slot is opened on the connecting support, one end of which is connected to the pull rope of the servo gear swing arm, and the other end thereof passes through the narrow slot and bypasses the key screw to be connected to the third spring.

[0008] Furthermore, the triangular splint is a double-layer hollow structure with a right-angled triangle as the main body, the upper end of the triangular splint is a plane and is fixedly connected to the flexible clamp, a second connection node is arranged on the hypotenuse of the triangular splint, and the second connection node is rotatably connected to the fourth connection node of the floating plate and one end of the first spring through a sub-screw.

[0009] Furthermore, the swimming plate passes through a triangular clamping plate with a double-layer hollow structure, and the fifth connection node of the swimming plate is rotatably connected to the second springs on the front and rear sides and the third spring in the middle through a threaded screw.

[0010] Furthermore, the trigger surface on the upper part of the trigger rod has a certain curvature to adapt to the shape of the grasped object, and a silicone layer is provided on the trigger surface to reduce direct impact on the grasped object.

[0011] Furthermore, the flexible claw is used to achieve flexible and adaptive grasping of the grasped object, and the lower end of the flexible claw is fixedly connected to the upper end plane of the triangular clamp by a fastener; the upper part of the flexible claw adopts a fin-like structure, and a plurality of ribs with gradually changing angles are arranged inside, so that the deformation ability of the fins at different distances is adapted to the clamping force of the gripper, and the flexible claw is provided with a serrated structure on the contact surface with the grasped object to increase the friction and load capacity, and the flexible claw is provided with a buffer boss on the contact part with the trigger rod to buffer the collision between the flexible claw and the trigger rod when the gripper is closed.

[0012] Furthermore, the flexible clamp is made of TPU material through 3D printing.

[0013] Furthermore, the base, triangular splint, swimming plate and trigger rod are all made of PLA material by 3D printing.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The tensegrity structure bistable flexible gripper provided by the present invention can realize rapid grasping of target objects by means of energy output during steady-state switching, can be used for rapid grasping of dynamic targets, and does not require continuous energy input to maintain the gripper's open or grasping state.

[0015] 2. The present invention provides a gripper with a variety of adjustable gripping performances to cope with different gripping targets and different gripping environments through the adjustment of the electric push rod and the steering gear.

[0016] 1) The gripping force can be adjusted according to factors such as the weight, surface roughness, and structural strength of the object being gripped. The servo turns the swing arm to reduce the elongation of the third spring, which can increase the gripping force of the gripper. 2) The buffering energy absorption capacity and anti-collision capacity of the tensegrity structure gripper can be adjusted according to different movement speeds. The steering gear rotates the swing arm to increase the elongation of the third spring and the stiffness of the tensegrity structure, which can improve the gripper's ability to absorb energy and resist collision in a collision; 3) The trigger potential energy barrier can be adjusted according to the weight and kinetic energy of the grasped object to achieve selective grasping of an object (the object's kinetic energy is less than the potential energy barrier and cannot be triggered). The electric push rod can be retracted to pull the trigger rod to the trigger position, reducing the required potential energy barrier; 4) The gripper’s anti-interference capability can be adjusted according to the working environment with different interference intensities. Extending the electric push rod can increase the potential energy barrier and reduce the possibility of the bistable structure being falsely triggered under vibration or other interference; 3. The flexible gripper of the present invention can adapt to the shape of the grasped object to perform enveloping grasping, thereby improving the grasping success rate and the weight of the graspable target, and plays a buffering role in the grasping process to protect the grasped object; 4. The components of the present invention have simple structures, low implementation costs and simple control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 2 is a schematic diagram of the overall structure of a tensegrity structure bistable flexible gripper according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a base in an embodiment of the present invention; Figure 3 2 is a schematic diagram of the structure of a triangular splint in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a swimming plate in an embodiment of the present invention; Figure 5is a schematic structural diagram of a trigger lever in an embodiment of the present invention; Figure 6 is a schematic structural diagram of a flexible clamping claw in an embodiment of the present invention; Figure 7 Schematic diagram of the opening and closing (active + passive) process of the gripper in an embodiment of the present invention; Figure 8 It is a schematic diagram of the process of adjusting the potential energy barrier, the overall structural stiffness, the clamping force, the anti-interference ability and the anti-collision ability of the gripper in an embodiment of the present invention; Fig. 9 is a mathematical simulation curve diagram of the adjustment of the energy barrier of the gripping gesture in an embodiment of the present invention; Fig.10 It is a mathematical simulation curve diagram of the gripper clamping force adjustment in the embodiment of the present invention.

[0018] In the figure: 1-base; 2-drive module; 3-tensioning bistable mechanism; 4-flexible clamping claw; 5-electric push rod; 6-servo engine; 7-trigger rod; 8-triangular clamping plate; 9-swimming plate; 10-first spring; 11-second spring; 12-third spring. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0022] like Figure 1As shown, this embodiment provides a tensegrity structure bistable flexible gripper with adjustable clamping performance, including a base 1, a drive module 2, a tensegrity bistable mechanism 3 and a pair of flexible clamps 4. The drive module 2 includes an electric push rod 5 and two servos 6, the electric push rod 5 is installed in the middle of the base 1, and the two servos 6 are symmetrically installed on the left and right sides of the base 1. The tensegrity bistable mechanism 1 includes a trigger rod 7, a pair of triangular splints 8, a pair of floating plates 9 and three groups of springs. The trigger rod 7 is composed of a straight rod with a trigger surface at the upper part, a middle rotating connection part and a lower strip slide groove. The upper end of the push rod of the electric push rod 5 is connected to a top block, and the top block is embedded in the strip slide groove. The pair of triangular splints 8 are symmetrically arranged on the left and right sides of the upper end of the base 1, and are rotatably connected to the rotating connection nodes on the left and right sides of the upper end of the base 1 through the first connection node at the lower part. The pair of swimming plates 9 are symmetrically arranged, and both swimming plates 9 are simultaneously rotatably connected to the rotating connection part of the trigger rod 7 through the third connection node on the inner side thereof, and the two swimming plates 9 are respectively rotatably connected to the second connection node on the corresponding triangular clamping plate 8 through the fourth connection node on the upper part thereof. Two first springs 10 are arranged front and back, and the left and right ends of the first spring 10 are respectively rotatably connected to the second connection nodes on the two triangular clamping plates 8; two second springs 11 are arranged front and back, and the left and right ends of the second spring 11 are respectively rotatably connected to the fifth connection nodes on the two swimming plates 9; a pull rope is respectively connected to the two steering gears 6, and the pull rope passes through the corresponding first connection node (that is, the rotation connection node on the base 1) and is connected to one end of the third spring 12, and the other end of the third spring 12 is rotatably connected to the fifth connection node on the corresponding swimming plate 9. The pair of flexible clamps 4 are symmetrically installed on the two triangular clamping plates.

[0023] The base 1 is used to install the driving mold 2, the tensioning bistable mechanism 3, and to install the gripper at the end of the robot arm or on the drone. Figure 2 As shown, four servo mounting through holes are respectively provided on the left and right sides of the base 1, four push rod mounting through holes are provided at the lower part of the base 1, and a limited position slide groove is provided at the upper part of the base 1; two servos 6 are symmetrically installed on the left and right sides of the base 1 and are fixedly connected to the servo mounting through holes on the left and right sides of the base 1 through fasteners; the electric push rod 5 is installed in the middle part of the base 1 and its lower part is fixedly connected to the push rod mounting through hole at the lower part of the base 1 through fasteners; the push rod mounting through hole is also used to install the gripper at the end of the robotic arm or the drone.

[0024] The upper end of the push rod of the electric push rod 5 is provided with a slider, and the slider is connected to a top block, and the slider slides up and down in the limit slide groove, and the top block slides up and down in the strip slide groove. The driving module 2 composed of the electric push rod 5 and two steering gears 6 is used to open and close the gripper, and the clamping force, potential energy barrier, anti-interference ability and anti-collision ability are changed by adjusting the structural stiffness of the gripper tensegrity structure. When the electric push rod 5 is pushed out, the top block pushes the trigger rod 7 to move upward, thereby opening the gripper; when the electric push rod 5 is retracted, the top block pulls the trigger rod 7 to move downward, so that the gripper can be actively closed and the potential energy barrier can be adjusted.

[0025] Connecting supports are provided on the left and right sides of the upper end of the base 1, and the connecting supports are rotatably connected to the first connecting node at the lower part of the triangular clamp 8 through a threaded screw, and a narrow slot is opened on the connecting support, one end of which is connected to the pull rope of the swing arm of the servo 6, and the other end thereof passes through the narrow slot and bypasses the threaded screw to be connected to the third spring 12. The swing arm is rotated by the servo 6 to pull the pull rope to change the elongation of the spring, thereby changing the stiffness of the tensioned overall structure to achieve the effect of adjusting the gripping performance such as the clamping force, anti-interference ability and anti-collision ability of the gripper.

[0026] In this embodiment, the tensioning bistable mechanism 3 includes a trigger rod 7, a pair of triangular clamps 8, a pair of floating plates 9 and three groups of springs. The tensioning bistable mechanism 3 provides the bistable characteristics of the gripper and provides a space for adjusting the gripping performance. The two first springs 10 of the first group of springs are installed at both ends on the nodes of the hypotenuse of the triangular clamps 8 by screws, the two second springs 11 of the second group of springs are installed at both ends on the outer nodes of the floating plate 9 by screws, and one end of the two third springs 12 of the third group of springs is installed in the narrow slot in the middle of the outer node of the floating plate 9 by screws, and the other end is connected to the draw rope passing through the narrow slot of the connecting support of the base, and finally connected to the swing arm of the servo 6.

[0027] like Figure 3 As shown, the triangular clamping plate 8 is a double-layer hollow structure with a right-angled triangle as the main body. The upper end of the triangular clamping plate is a plane and is fixedly connected to the flexible clamping claw 4, which plays the role of connecting the tensioning bistable mechanism 3 and the flexible clamping claw 4. A second connection node is set on the hypotenuse of the triangular clamping plate 8, and the second connection node is rotatably connected to the fourth connection node of the floating plate and one end of the first spring 10 through a sub-screw. When the gripper is closed, the triangular clamping plate 8 drives the flexible clamping claw 4 to approach from both sides.

[0028] like Figure 4 As shown, in this embodiment, the swimming plate 9 is a triangular structure, and the swimming plate body passes through the two layers of the triangular clamping plate with a double-layer hollow structure. The fifth connection node of the swimming plate 9 is rotatably connected to the second spring 11 on the front and rear sides and the third spring 12 in the middle through a parent and child screw.

[0029] like Figure 5 As shown, the trigger rod 7 has a rotating connection in the middle connected to the floating plates 9 on both sides, and the lower part is a strip slide. The top block of the electric push rod 5 can slide inside the strip slide. The trigger rod 7 can move with two degrees of freedom in the annular limit groove of the base. The upper end of the trigger rod 7 is connected to the trigger surface through a straight rod. The trigger surface is slightly curved to adapt to the shape of the grasped object, and a silicone layer is provided on the trigger surface to reduce the direct impact on the grasped object. After the trigger surface of the trigger rod 7 is hit by an object, the trigger rod 7 moves downward. If the kinetic energy of the object is greater than the potential energy barrier, the gripper quickly closes to complete the grasping.

[0030] The flexible clamping claw 4 is used to achieve flexible and adaptive grasping of the grasped object. Figure 6 As shown, the lower end of the flexible clamp 4 is a double-layer structure, which is clamped on both sides of the upper side of the upper plane of the triangular clamp and fixedly connected to the upper plane of the triangular clamp by fasteners. The upper part of the flexible clamp 4 adopts a fin-like structure, and a plurality of ribs with gradually changing angles are arranged inside it, so that the deformation ability of the fins at different distances is adapted to the gripping force of the gripper. The flexible clamp 4 is provided with a serrated structure on the contact surface with the grasped object to increase the friction and load capacity. The flexible clamp 4 is provided with a buffer boss on the contact part with the trigger rod to buffer the collision between the flexible clamp 4 and the trigger rod 7 when the gripper is closed.

[0031] In this embodiment, the flexible clamp is made of tpu material through 3D printing. The base, triangular clamp, floating plate, and trigger rod are all made of PLA material through 3D printing.

[0032] The working principle of the tensegrity structure bistable flexible gripper provided in this embodiment is further described below.

[0033] like Figure 7 As shown, the gripper can be pushed out by the electric push rod 5, pushing the trigger rod 7 to move upward, thereby actively opening the gripper, and then the electric push rod 5 is retracted downward to the triggering position; through the collision of the grasped object, the trigger rod 7 moves downward, thereby triggering the tensegrity bistable structure, and the structure quickly releases the potential energy stored inside it to complete the rapid grasping process; the electric push rod 5 can also continue to retract to drive the trigger rod 7 to move downward, actively triggering the tensegrity bistable structure to complete the grasping.

[0034] like Figure 8 As shown, the steering gear 6 rotates the swing arm to pull the pull rope to change the elongation of the spring, thereby changing the stiffness of the tensegrity structure and the overall structural stiffness, clamping force, anti-interference ability and anti-collision energy of the gripper.

[0035] In this embodiment, the servo 6 rotates the swing arm to reduce the elongation of the third spring 12, which can increase the clamping force of the gripper; increasing the elongation of the third spring 12 and increasing the stiffness of the tensegrity structure can enhance the gripper's ability to absorb energy in a collision and its ability to resist collision.

[0036] In this embodiment, retracting the electric push rod 5 can pull the trigger rod 7 to the trigger position, reducing the required potential energy barrier; extending the electric push rod 5 can increase the potential energy barrier, reduce the possibility of the bistable structure being mistakenly triggered under vibration or other interference, and improve the anti-interference ability.

[0037] The mathematical simulation curve of the gripping gesture energy barrier adjustment is as follows: Fig. 9 As shown. Fig. 9 A set of control curves are shown in FIG. 1 , and the total potential energy curve, the third spring potential energy curve, the trigger point, and the potential energy barrier ΔE are indicated.

[0038] In this embodiment, we analyze the case of adjusting the swing arm of the servo 6 to increase the elongation of the third spring 12; in this case, the potential energy curve of the adjusted third spring 12 will be higher than the reference curve, and the adjusted total potential energy curve will be improved. In addition, the adjusted potential energy barrier ΔE' is higher than ΔE.

[0039] In this embodiment, we analyze the case of contracting the electric push rod 5 to limit its opening angle; after limiting the position indicated by the right arrow in the reference curve to the position indicated by the left arrow, its potential energy barrier is reduced from ΔE to ΔE''.

[0040] like Fig.10 As shown, we obtained the mathematical simulation curve of the gripper clamping torque with respect to the opening angle by derivation of the potential energy curve; after adjusting the servo 6 swing arm to increase the elongation of the third spring 12, its clamping torque was greatly reduced compared with the clamping torque curve of the control group.

[0041] The tensegrity structure bistable flexible gripper with adjustable clamping performance provided by the present invention can realize rapid grasping of target objects with the help of energy output during steady-state switching, can be used for rapid grasping of dynamic targets, and does not require continuous energy input to maintain the gripper's open or grasping state; the gripper can have a variety of adjustable grasping properties to cope with different grasping targets and different grasping environments through the adjustment of the electric push rod and the servo; the flexible clamping claw used can adapt to the shape of the grasped object for envelope grasping, improve the grasping success rate and the weight of the graspable target, play a buffering role in the grasping process, and protect the grasped object; the complexity of each component is low, the cost is low, and the control is simple.

[0042] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A tensegrity structure bistable flexible gripper with adjustable gripping performance, characterized in that: It includes a base, a driving module, a tensioning bistable mechanism and a pair of flexible clamps; the driving module includes an electric push rod and two servos, the electric push rod is installed in the middle of the base, and the two servos are symmetrically installed on the left and right sides of the base; the tensioning bistable mechanism includes a trigger rod, a pair of triangular clamps, a pair of swimming plates and three groups of springs; the trigger rod is composed of a straight rod with a trigger surface on the upper part, a middle rotating connecting part and a lower strip slide groove, the upper end of the push rod of the electric push rod is connected with a top block, and the top block is embedded in the strip slide groove; the pair of triangular clamps are symmetrically arranged on the left and right sides of the upper end of the base, and are rotatably connected with the rotating connecting nodes on the left and right sides of the upper end of the base through the first connecting node at the lower part; the pair of swimming plates are symmetrically arranged, and the two The swimming plates are both rotationally connected to the rotating connection part of the trigger rod through the third connection node on the inner side thereof, and the two swimming plates are rotationally connected to the second connection node on the corresponding triangular clamping plate through the fourth connection node on the upper part thereof; the two first springs are arranged front and back, and the left and right ends of the first springs are rotationally connected to the second connection nodes on the two triangular clamping plates respectively; the two second springs are arranged front and back, and the left and right ends of the second springs are rotationally connected to the fifth connection nodes on the two swimming plates respectively; a pull rope is connected to each of the two servos, and the pull rope passes around the corresponding first connection node and is connected to one end of the third spring, and the other end of the third spring is rotationally connected to the fifth connection node on the corresponding swimming plate; the pair of flexible clamps are symmetrically installed on the two triangular clamping plates.

2. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The left and right sides of the base are respectively provided with a plurality of servo mounting through holes, the lower part of the base is provided with a plurality of push rod mounting through holes, and the upper part of the base is provided with a limited slide groove; the two servos are symmetrically installed on the left and right sides of the base and are fixedly connected to the servo mounting through holes on the left and right sides of the base through fasteners; the electric push rod is installed in the middle part of the base and the lower part thereof is fixedly connected to the push rod mounting through holes at the lower part of the base through fasteners; the push rod mounting through holes are also used to install the gripper at the end of a robotic arm or a drone; a slider is provided at the upper end of the push rod of the electric push rod, a top block is connected to the slider, the slider slides up and down in the limited slide groove, and the top block slides up and down in the strip slide groove.

3. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: Connecting supports are arranged on the left and right sides of the upper end of the base, and the connecting supports are rotatably connected to the first connecting node at the lower part of the triangular clamp through a key screw, and a narrow slot is opened on the connecting support, one end of which is connected to the pull rope of the servo gear swing arm, and the other end thereof passes through the narrow slot and bypasses the key screw to be connected to the third spring.

4. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The triangular splint is a double-layer hollow structure with a right-angled triangle as the main body. The upper end of the triangular splint is a plane and is fixedly connected to the flexible clamp. A second connection node is arranged on the hypotenuse of the triangular splint. The second connection node is rotatably connected to the fourth connection node of the floating plate and one end of the first spring through a sub-screw.

5. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 4, characterized in that: The swimming plate passes through a triangular clamping plate with a double-layer hollow structure, and the fifth connection node of the swimming plate is rotatably connected to the second springs at the front and rear sides and the third spring in the middle through a threaded screw.

6. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The trigger surface on the upper part of the trigger rod has a certain curvature to adapt to the shape of the grasped object, and a silicone layer is arranged on the trigger surface to reduce the direct impact on the grasped object.

7. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The flexible clamp is used to achieve flexible and adaptive grasping of the grasped object. The lower end of the flexible clamp is fixedly connected to the upper plane of the triangular clamp by a fastener. The upper part of the flexible clamp adopts a fin-like structure, and a plurality of ribs with gradually changing angles are arranged inside, so that the deformation ability of the fin at different distances is adapted to the clamping force of the gripper. The flexible clamp is provided with a serrated structure on the contact surface with the grasped object to increase the friction and load capacity. The flexible clamp is provided with a buffer boss on the contact part with the trigger rod to buffer the collision between the flexible clamp and the trigger rod when the gripper is closed.

8. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The flexible clamp is made of TPU material through 3D printing.

9. The tensegrity structure bistable flexible gripper with adjustable gripping performance according to claim 1, characterized in that: The base, triangular splint, swimming plate and trigger rod are all made of PLA material through 3D printing.

Images