Wide-width repeatable programming grabbing robot based on shape memory polymer bistable buckling beam

Abstract

The invention discloses a wide-width repeatable programming grabbing robot based on a shape memory polymer bistable buckling beam. The robot comprises a bistable buckling beam structure based on a shape memory polymer, grabbing fingers, a hinge module, a pneumatic telescopic driver, a pneumatic radial driver, an inflation system, a heating system and the like. The bistable buckling beam structure has two stable states, namely a release state and a grabbing state. By inflating and deflating the pneumatic telescopic driver, the bistable buckling beam structure can be quickly switched between two stable states. By inflating and deflating the pneumatic radial driver, the pneumatic radial driver generates elastic deformation and actively adjusts a switching threshold value between two steady states, so that continuous and repeatable programming of steady-state characteristics such as single / double steady states is realized. The bistable buckling beam structure is heated through the heating system, the elastic modulus of the shape memory polymer can be actively regulated and controlled, and wide-width repeatable programming of steady-state characteristics such as peak load and energy barrier is achieved.

Description

Technical Field

[0001] The invention relates to soft robot technology, in particular to a wide-width reproducible programmable grasping robot based on a shape memory polymer bistable buckling beam. Background Art

[0002] Flexible grippers belong to the field of soft robots. Traditional flexible grippers are made of soft materials (soft rubber) and have the advantages of softness, strong adaptability, and safe human-machine interaction. They are extremely feasible in grasping fragile objects. The complex and diverse mechanical properties of soft materials have also enriched the design of flexible grippers. However, current flexible grippers have disadvantages such as bulky driving equipment and slow grasping speed. In addition, in order to maintain the elastic deformation generated during grasping, the flexible gripper needs to maintain the energy input to the gripper from the outside, which will lead to energy waste. These shortcomings limit the practical application of flexible grippers in the industry. Summary of the invention

[0003] The purpose of the present invention is to improve the shortcomings of traditional flexible grippers, such as slow grasping response speed, complex driving mode, difficult to adjust grasping sensitivity, and the need for uninterrupted external energy supply during the grasping process, and to provide a wide-width re-programmable grasping robot based on a shape memory polymer bistable buckling beam. Utilizing the re-programmable characteristics of the bistable buckling beam, the trigger force, response time, grasping mode, etc. of the grasping robot can be actively regulated. The grasping robot has the characteristics of diverse modes, fast response, strong adaptability, and low cost. It does not require additional energy input to maintain the grasping state of the flexible gripper, and can be applied to the end effector of an industrial robot to achieve intelligent grasping / releasing of various targets.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A wide-width reprogrammable grasping robot based on a shape memory polymer bistable buckled beam, comprising a buckled beam structure, a grasping finger, a hinge module, a grasping finger, a pneumatic telescopic driver, a pneumatic radial driver, and a heating system. The buckled beam structure is a "human" shaped beam system structure formed by three buckled beams arranged circumferentially at 120 degrees. In the structure, one end of the three buckled beams is fixedly connected to each other, and the other end is hinged to the hinge module. The buckled beam is a thin shell beam with a rectangular cross-section, which is processed from shape memory polymer plastic. The axis shape of the buckled beam is two connected arcs, and the tangents of the two arcs at the connection are collinear. The buckled beam structure has two stable states: a release state and a grasping state. The switching threshold between the two stable states is adjusted by adjusting the negative pressure state of the pneumatic radial driver; the heating system is arranged on the surface of the bistable buckled beam structure, and is used to adjust the switching threshold between the two stable states.

[0006] In the above technical solution, further, the gripping finger is made of TPU material through 3D printing, one end of which is pasted in the middle of the buckling beam and the other end is free. The gripping finger made of soft material can better protect the grasped object. The geometric design of the gripping finger also ensures that when the flexible gripper is in a grasping state, the gripping finger has a good wrapping effect on the grasped object. One end of the pneumatic telescopic actuator is connected to the fixed plate installed in the center of the "human" shaped buckling beam structure, and the other end is installed on the fixed plate arranged on the hinge unit. The pneumatic telescopic actuator is connected to the center of the buckling beam with a three-way joint. The pneumatic telescopic actuator and the pneumatic radial actuator are made of TPU film and PLA plastic plate. The PLA plastic plate has a high elastic modulus and is convenient for 3D printing batch processing. The TPU film is used to make the air bag, and the PLA plastic plate is pasted on it to form the Miura origami unit.

[0007] Furthermore, the hinge module includes a rotating part and a rotating shaft part, and the rotating part can rotate along the rotating shaft part; one end of the pneumatic telescopic driver is connected to the center of the bistable buckling beam structure and fixedly connected, and the other end is connected to the rotating part of the hinge module; both ends of the pneumatic radial driver are connected to the rotating shaft part of the hinge module, and multiple pneumatic radial drivers are connected in series to form a circular ring through multiple hinge modules.

[0008] Furthermore, the switching threshold between the two stable states can be adjusted by adjusting the negative pressure state of the pneumatic radial drive. The specific method is: when the pneumatic radial drive is evacuated, it undergoes radial contraction deformation, the bistable buckling beam structure is subjected to radial extrusion force, and the switching threshold between the two stable states is increased; by controlling the negative pressure of the pneumatic radial drive, the grasping load and the passive grasping threshold can be repeatedly programmed and designed, and are continuously adjustable.

[0009] Furthermore, the heating system is specifically composed of an electric heating film, and a layer of electric heating film is attached to the upper and lower surfaces of the bistable buckled beam structure; the heating system is used to adjust the switching threshold between the two stable states, and the specific method is: when the electric heating film is energized and heated, the temperature of the bistable buckled beam structure rises to reach the glass transition temperature, the elastic modulus drops sharply, and the switching threshold between the two stable states drops, the steady-state characteristics of the robot can be repeatedly programmed to improve the passive grasping sensitivity, and the width is adjustable.

[0010] The flexible gripper can use fast and slow air drive modes and passive drive modes to quickly grasp and release the target object.

[0011] Rapid air drive mode: when the pneumatic telescopic actuator is inflated, the pneumatic telescopic actuator causes thrust to the hinge module, and the hinge module rotates under the push of the bending moment, and the bistable buckled beam structure quickly switches from the release state to the grasping state, and the flexible gripper realizes active and rapid grasping action; when the pneumatic telescopic actuator is deflating, the actuator causes tension to the hinge module to generate bending moment, and the hinge module rotates under the action of the bending moment, so that the bistable buckled beam structure quickly switches from the grasping state to the release state, and the three grasping fingers quickly move away from each other to realize active and rapid release action; repeating the above process can realize repeated rapid grasping and releasing actions.

[0012] Slow air drive mode: the bistable buckled beam structure is initially in a released state, at which time the pneumatic radial actuator is inflated to stretch the bistable buckled beam structure, causing the switching threshold between the two stable states to decrease. After the threshold is reduced to zero, the bistable buckled beam structure cannot be maintained in the initial released state (at this time, the bistable buckled beam structure changes from a bistable state to a monostable state, and the corresponding stable state is a grasping state), and automatically returns to the grasping state. During the process of the bistable buckled beam structure automatically returning to the grasping state, the pneumatic telescopic actuator is slowly inflated, and the grasping robot realizes an active slow grasping action; during the process of the buckled beam structure returning to the grasping state, the pneumatic telescopic actuator slowly intakes air to realize a slow grasping action; after the grasping is completed, the bistable buckled beam structure is restored to the released state through a fast air drive mode; the above process can be repeated to realize repeated grasping and releasing actions.

[0013] Passive drive mode: the pneumatic radial drive is evacuated to form negative pressure, and a switching threshold between two stable states is set; the bistable buckled beam structure is initially in a released state, at which time the grasped object is made to contact the center position of the bistable buckled beam structure, and when the contact force exceeds the switching threshold between the two stable states, the bistable buckled beam structure spontaneously switches rapidly from the released state to the grasping state, and the flexible gripper realizes a passive rapid grasping action; after the grasping is completed, the bistable buckled beam structure is restored to the released state through air drive; the above process is repeated to realize repeated rapid grasping and releasing actions.

[0014] Furthermore, the hinge module and the pneumatic radial drive constitute an annular regulator. The annular regulator is specifically a circular ring structure in which three hinge modules and three pneumatic radial drives are staggered and connected, and is connected to the bistable buckling beam structure through the hinge module; the hinge module is hollowed out inside and is connected to the pneumatic radial drive as a whole. If it is necessary to increase the gripping load-bearing capacity, the pneumatic radial drive is evacuated, and the pneumatic radial drive undergoes annular contraction, causing the diameter of the annular regulator to contract, thereby subjecting the buckling beam structure to a compressive force. After being subjected to the compressive force, the buckling beam structure increases the strength of the two stable states due to the internal stress, and the switching threshold force between the two stable states is increased, so that the gripping load-bearing capacity is increased.

[0015] Furthermore, if the passive grasping sensitivity needs to be improved, the heating system needs to be powered on to heat the buckling beam, so that the buckling beam temperature rises. When the buckling beam temperature exceeds the glass transition temperature of the shape memory polymer plastic, its elastic modulus drops significantly. At this time, the switching threshold between the two stable states of the bistable buckling beam structure drops, so that in the passive grasping process, the trigger thrust required after the grasped object touches the buckling beam is greatly reduced, thereby improving the sensitivity of the passive grasping method.

[0016] Furthermore, the robot also includes a control unit, which consists of a power supply, a solenoid valve, a precision pressure regulating valve, a single-chip microcomputer, a wire pipe system, a vacuum pump, and an air pressure pump; the control unit is used to control the air extraction or inflation of the pneumatic telescopic actuator and the pneumatic radial actuator; the wire pipe system includes an air pipe, a power cord, and a signal line; the single-chip microcomputer is connected to the solenoid valve through the signal line, and the passage of the solenoid valve is switched by high and low levels; the vacuum pump and the air pressure pump are both connected to the precision pressure regulating valve through the air pipe; the precision pressure regulating valve is used to control the positive pressure or negative pressure; the solenoid valve is connected to the precision pressure regulating valve through the air pipe, and the solenoid valve controls the airflow passage to inflate or evacuate the pneumatic telescopic actuator and the pneumatic radial actuator.

[0017] The beneficial effects of the present invention are:

[0018] The wide-width reproducible grasping robot based on the bistable buckled beam of shape memory polymer adopted by the present invention can not only realize active and rapid response grasping by pneumatic drive, but also can make the buckled beam structure switch rapidly between the release state and the grasping state by passive means. The grasper has the function of actively and passively grasping / releasing the grasped object rapidly. In addition, when the grasping robot maintains the grasping / releasing state, it is not necessary to continuously input energy to maintain the grasping / releasing action, and no energy input is required throughout the passive grasping mode to grasp the object. According to specific needs such as the weight of the grasped object, the grasping robot can be reprogrammed to meet the needs. By inflating and deflating the pneumatic radial drive, the pneumatic radial drive undergoes elastic deformation and actively adjusts the switching threshold between the two stable states, thereby realizing continuous and reproducible programming of stable state characteristics such as single / bistable state. By heating the bistable buckled beam structure through a heating system, the elastic modulus of the shape memory polymer can be actively regulated to realize wide-width reproducible programming of stable state characteristics such as peak load and energy barrier. The specific structural design of the grasping robot in the present invention is conducive to stably grasping the target object and can also make its own structure easy to mass produce. Therefore, the grasping robot can be applied to the end effector of an industrial robot to quickly and repeatedly grasp / release various targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the structure of a wide-width reprogrammable grasping robot based on a bistable buckled beam of a shape memory polymer;

[0020] Figure 2 is a structural diagram of a buckled beam structure;

[0021] Figure 3 It is a schematic diagram of the structure of the grasping finger;

[0022] FIG4(1) is a schematic diagram of the structure of the hinge module, FIG4(2) is a stereogram of the rotating component of the hinge module, and FIG4(3) is a stereogram of the rotating shaft component of the hinge module;

[0023] FIG5(1) is a schematic diagram of the structure of a basic Miura origami unit, FIG5(2) is a flattened form of the basic origami unit, FIG5(3) is a front view of a truncated origami unit, FIG5(4) is a stereoscopic view of a pneumatic telescopic actuator 4 composed of the basic origami unit, and FIG5(5) is a stereoscopic view of a pneumatic radial actuator 5 composed of truncated origami units;

[0024] Figure 6 It is a schematic diagram of the structure of the heating system;

[0025] Figure 7 It is a schematic diagram of the air circuit of the pneumatic telescopic actuator and the pneumatic radial actuator;

[0026] Figure 8 is a schematic diagram of the control unit;

[0027] Among them, 1: bistable buckling beam structure; 2: gripping finger; 3: hinge module; 4: pneumatic telescopic drive; 5: pneumatic radial drive; 6: heating system. DETAILED DESCRIPTION

[0028] The scheme of the present invention is further explained below in conjunction with the accompanying drawings.

[0029] like Figure 1 The present invention discloses a wide-width reprogrammable grasping robot based on a shape memory polymer bistable buckling beam, which is mainly composed of a bistable buckling beam structure 1, a grasping finger 2, a hinge module 3, a pneumatic telescopic drive 4, a pneumatic radial drive 5, a heating system 6 and a control unit.

[0030] like Figure 2The bistable buckled beam structure 1 of the present invention is shown. The structure is a "human" shaped beam system structure formed by three buckled beams arranged circumferentially at 120 degrees. In the structure, one end of the three buckled beams is fixedly connected to each other, and the other end is hinged to the hinge module. The buckled beam has a rectangular cross-section, and the axis shape is two connected arcs, and the tangents of the two arcs at the connection are collinear. Each buckled beam is made of shape memory polymer plastic. The bistable buckled beam structure 1 has two stable states, namely: a release state and a grasping state. A pneumatic telescopic drive 4 is provided on the three buckled beam rings of the bistable buckled beam structure 1, and a pneumatic radial drive 5 is provided between the movable ends of any two adjacent buckled beam rings. By adjusting the negative pressure state of the pneumatic radial drive 5, the switching threshold between the two stable states is adjusted. The specific method is: when the pneumatic radial drive 5 is evacuated, it undergoes radial contraction deformation, the bistable buckling beam structure 1 is subjected to radial extrusion force, and the switching threshold between the two stable states is increased; by controlling the negative pressure of the pneumatic radial drive 5, the grasping load and the passive grasping threshold can be repeatedly programmed and designed, and are continuously adjustable.

[0031] like Figure 3 The gripping finger 2 of the present invention is made of TPU by 3D printing, one end of which is pasted on the middle connection of the two arcs of the buckling beam, and the other end is free. The gripping finger made of soft material can better protect the grasped object. The arc-shaped geometric structure design of the gripping finger also ensures that when the flexible gripper is in the grasping state, the gripping finger has a good wrapping effect on the grasped object.

[0032] As shown in Figure 4 (1), the hinge module 3 of the present invention includes a rotating part and a rotating shaft part, and the rotating part can rotate along the rotating shaft part. Figure 4 (2) is a stereoscopic view of the rotating part of the hinge module, and Figure 4 (3) is a stereoscopic view of the rotating shaft part of the hinge module. A rotating shaft is provided in the middle of the rotating shaft part, and two fixed plates are provided on both sides. The fixed plates on both sides of the rotating shaft part are connected to one end of the pneumatic radial driver 5. The three pneumatic radial drivers 5 are connected in series with the three hinge modules 3 in a ring shape. The interior of the hinge module 3 is hollowed out and connected to the pneumatic radial driver 5 as a whole. The mounting plate on the rotating part is connected to the pneumatic telescopic driver 4, and the other end of the pneumatic telescopic driver 4 is connected to the fixed end of the bistable buckling beam structure 1.

[0033] like Figure 6The heating system 6 of the present invention is attached to the upper and lower surfaces of the bistable buckled beam structure 1 and is connected to the power supply through a wire. The heating system 6 can be used to adjust the switching threshold between the two stable states. The specific method is: when the heating system 6 is powered on for heating, the temperature of the bistable buckled beam structure 1 rises to the glass transition temperature, the elastic modulus drops sharply, and the switching threshold between the two stable states drops. The steady-state characteristics of the robot can be repeatedly programmed to improve the passive grasping sensitivity, and the width is adjustable.

[0034] The curved surfaces of the pneumatic telescopic actuator 4 and the pneumatic radial actuator 5 are both Miura origami style, which is easy to fold and unfold; the pneumatic telescopic actuator 4 and the pneumatic radial actuator 5 are both composed of multiple origami units, and the number and design parameters of the origami units are determined by the geometric dimensions of the buckled beam. The basic origami unit is shown in Figure 5 (1), which consists of two layers of folded sheets, the protruding fold part is the mountain fold, and the concave fold part is the valley fold. The upper folded sheet consists of four sides with a length of l 1 and l R The lower folded sheet consists of four parallelograms with side lengths of l 2 and l R The parallelogram is composed of 1 >l 2 , and in order to achieve the foldable condition of Figure 5(2), the following conditions must be met:

[0035] l 1 cosα 1 = l 2 cosα 2

[0036] At the same time, in order to design the curved arch shape of the pneumatic radial drive 5, the following relationship must be satisfied:

[0037]

[0038] Where η is the central angle of the arch formed by a single origami unit, which is generally taken as η = π / 16 = 11.25°. 1 , l 2 , α 2 After four parameters, l can be calculated by the above formula R and α 1 .

[0039] The above content briefly introduces the design process of the two actuators. Figure 5 (4) is a three-dimensional view of the pneumatic telescopic actuator 4 composed of basic origami units, and Figure 5 (5) is a three-dimensional view of the pneumatic radial actuator 5 composed of the truncated origami units of Figure 5 (3).

[0040] The two independent ways and processes for the grasping robot to realize active grasping / releasing action in the present invention are:

[0041] Air drive mode:

[0042] (1) Active grasping action: When the pneumatic telescopic actuator 4 is evacuated, it pulls the bistable buckled beam structure 1. Under the action of the pulling force, the hinge structure rotates, and the bistable buckled beam structure 1 quickly switches from the release state to the grasping state. The grasping fingers 2 quickly approach each other and wrap the grasped object;

[0043] (2) Active release action: When the pneumatic telescopic actuator 4 is inflated, it pushes the hinge structure to rotate, driving the bistable buckled beam structure 1 to quickly switch from the grasping state to the releasing state, and the grasping fingers 2 quickly move away from each other, releasing the grasped object.

[0044] By repeating (1) and (2), the bistable grasping robot can realize repeated and rapid grasping and releasing actions.

[0045] (3) Slow grasping action: When the bistable buckled beam structure 1 is in the grasping state, the pneumatic telescopic actuator 4 draws air to form negative pressure, and the pneumatic radial actuator 5 inflates and stretches the bistable buckled beam structure 1, making it difficult to maintain the bistable state of the bistable buckled beam structure 1. When the bistable buckled beam structure 1 returns to the initial release state, the pneumatic telescopic actuator 4 slowly intakes air to support the bistable buckled beam structure 1 to slowly recover, thereby achieving a slow grasping action.

[0046] Passive drive mode:

[0047] (1) Passive grasping action: When the bistable buckled beam structure 1 remains in the released state, the grasped object contacts the center position of the bistable buckled beam structure 1. When the contact force exceeds the switching threshold between the two stable states, the bistable buckled beam structure 1 spontaneously switches rapidly from the released state to the grasping state, and the flexible gripper realizes a passive rapid grasping action.

[0048] like Figure 7 The air circuits of the three pneumatic telescopic actuators are connected at the central fixed point of the bistable buckled beam structure 1 by a three-way joint, and are connected to the control unit by an air pipe from the connection between one of the pneumatic telescopic actuators and the rotating component. The air circuits of the three pneumatic radial actuators are connected, and the air pipes are fixed on the shaft component of the hinge module, and are connected to the control unit by an air pipe from one shaft component.

[0049] like Figure 8The control unit is composed of a power supply, a solenoid valve, a precision pressure regulating valve, a single-chip microcomputer, a wire pipe system, a vacuum pump, and an air pressure pump; the control unit is used to control the air extraction or inflation of the pneumatic telescopic actuator and the pneumatic radial actuator; the wire pipe system includes an air pipe, a power cord, and a signal line; the single-chip microcomputer is connected to the solenoid valve through a signal line, and the passage of the solenoid valve is switched by high and low levels; the vacuum pump and the air pressure pump are both connected to the precision pressure regulating valve through an air pipe; the precision pressure regulating valve is used to control the size of positive or negative pressure; the solenoid valve is connected to the precision pressure regulating valve through an air pipe, and the solenoid valve controls the airflow passage to inflate or evacuate the pneumatic telescopic actuator and the pneumatic radial actuator.

[0050] The wide-width reproducible grasping robot based on the shape memory polymer bistable buckling beam of the present invention has the advantages of fast response speed, energy saving, simple and reliable structure, and easy batch processing. Therefore, the grasping robot can be applied to the operator of industrial robots to quickly and repeatedly grasp / release various targets, and has a wide range of application scenarios and strong development potential.

Claims

1. A wide-width reprogrammable grasping robot based on a shape memory polymer bistable buckling beam, characterized in that: It includes a bistable buckling beam structure based on shape memory polymer, a gripping finger, a hinge module, a pneumatic telescopic drive, a pneumatic radial drive and a heating system; the gripping finger is in the shape of an arc, one end of which is fixed at the middle position of the bistable buckling beam, and the other end is free; the hinge module includes a rotating component and a rotating shaft component, and the rotating component can rotate along the rotating shaft component; one end of the pneumatic telescopic drive is connected and fixed to the center of the bistable buckling beam structure, and the other end is connected to the rotating component of the hinge module; both ends of the pneumatic radial drive are connected to the rotating shaft component of the hinge module, and multiple pneumatic radial drives are connected in series to form a circular ring through multiple hinge modules; the bistable buckling beam structure has two stable states: a release state and a gripping state; the switching threshold between the two stable states is adjusted by adjusting the negative pressure state of the pneumatic radial drive; the heating system is arranged on the surface of the bistable buckling beam structure, and is used to adjust the switching threshold between the two stable states.

2. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: The bistable buckled beam structure is a "human" shaped beam system structure formed by three buckled beams arranged circumferentially at 120 degrees, one end of the three buckled beams is fixed, and the other end is fixedly connected to the rotating part of the hinge module; the buckled beam has a rectangular cross-section, and its axis shape is two connected arcs, and the tangents of the two arcs at the connection are collinear; the bistable buckled beam structure is heated by a heating system, so as to actively regulate the elastic modulus of the shape memory polymer, thereby realizing wide-range repeatable programming of the steady-state characteristics.

3. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: A rotating shaft is provided in the middle of the rotating shaft component, and two fixing plates are provided on both sides, and the fixing plates are used to fix the pneumatic radial driver; a mounting plate is also provided on the rotating component, and the mounting plate is connected to one end of the pneumatic telescopic driver.

4. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: The switching threshold between the two stable states is adjusted by adjusting the negative pressure state of the pneumatic radial drive. The specific method is: when the pneumatic radial drive is evacuated, it undergoes radial contraction deformation, the bistable buckling beam structure is subjected to radial extrusion force, and the switching threshold between the two stable states is increased; by controlling the negative pressure of the pneumatic radial drive, the grasping load and the passive grasping threshold can be repeatedly programmed and designed, and are continuously adjustable.

5. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: The heating system is specifically composed of an electric heating film, and a layer of electric heating film is attached to the upper and lower surfaces of the bistable buckled beam structure; the heating system is used to adjust the switching threshold between the two stable states, and the specific method is: when the electric heating film is powered on for heating, the temperature of the bistable buckled beam structure rises to the glass transition temperature, the elastic modulus drops sharply, and the switching threshold between the two stable states drops, the steady-state characteristics of the robot can be repeatedly programmed to improve the passive grasping sensitivity, and the width is adjustable.

6. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: The grasping / releasing of the grasping robot is realized by air drive or passive method; Gas drive mode: Fast grasping: When the pneumatic telescopic actuator is inflated, the traction hinge module rotates, and the bistable buckled beam structure quickly switches from the release state to the grasping state, and the grasping robot realizes active and fast grasping action; Quick release: When the pneumatic telescopic actuator is evacuated, the hinge module is pulled to rotate, so that the bistable buckled beam structure quickly switches from the grasping state to the releasing state, and the grasping robot realizes active quick release action; Slow grasping: The bistable buckled beam structure is initially in a released state. At this time, the pneumatic radial actuator is inflated to stretch the bistable buckled beam structure, so that the switching threshold between the two stable states decreases. After the threshold is reduced to zero, the bistable buckled beam structure cannot be maintained in the initial released state and automatically returns to the grasping state. During the process of the bistable buckled beam structure automatically returning to the grasping state, the pneumatic telescopic actuator is slowly inflated, and the grasping robot realizes active slow grasping action; Passive method: The pneumatic radial drive is pumped to form negative pressure, and a switching threshold between two stable states is set; when the buckled beam structure is in the released state, the object to be grasped is made to contact the center of the bistable buckled beam structure. When the contact force increases to the switching threshold between the two stable states, the bistable buckled beam structure spontaneously switches quickly from the released state to the grasping state, and the grasping robot realizes passive rapid grasping action.

7. The wide-width reprogrammable grasping robot based on the shape memory polymer bistable buckling beam according to claim 1, characterized in that: The basic units of the pneumatic telescopic actuator and the pneumatic radial actuator both adopt the Miura origami style, which is easy to be folded and unfolded in a large scale; the pneumatic telescopic actuator and the pneumatic radial actuator are both composed of a plurality of origami units.

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