Flexible grasping device with feedback mechanism

Abstract

The present application relates to the technical field of grabbing equipment, and specifically provides a flexible grabbing equipment with a feedback mechanism, which comprises a base, two steering gears, a first connecting rod mechanism, a second connecting rod mechanism, a first fin strip clamp finger and a second fin strip clamp finger, the two steering gears are respectively installed at the left and right ends of the base and are connected with the first fin strip clamp finger and the second fin strip clamp finger through the first connecting rod mechanism and the second connecting rod mechanism, the other ends of the first fin strip clamp finger and the second fin strip clamp finger are connected with the base, flexible film pressure sensors are arranged on the clamping surfaces of the first fin strip clamp finger and the second fin strip clamp finger, the flexible film pressure sensors and the two steering gears are connected with an external controller, the flexible film pressure sensors are used for collecting contact force data in real time and sending the contact force data to the controller, and the controller controls the operation of the two steering gears according to the contact force data. The present application adds a pressure sensing feedback mechanism, realizes clamping closed-loop control and improves the grabbing force adaptability.

Description

Technical Field

[0001] This invention relates to the field of gripping equipment technology, specifically providing a flexible gripping device with a feedback mechanism. Background Technology

[0002] Flexible robotic grasping devices, leveraging the inherent compliance of their materials and structures, can adapt to the shape of objects and avoid damage. They are widely used in scenarios involving grasping difficult-to-manipulate objects such as raw eggs, light bulbs, and flexible textiles. Fin-structured fingers, as a typical example of passive compliant structures, are inspired by the deformation mechanism of fish fins. Their core feature is the fin effect—the fingertip bends in the direction of the applied load. With advantages such as simple structure, high flexibility, and strong adaptability, they have become a research hotspot in the field of flexible grasping devices.

[0003] However, existing technologies still need improvement in certain application scenarios. Current flexible gripping devices lack a gripping force feedback mechanism, making it difficult to accurately control the clamping force. This can easily lead to situations where the grip is too loose, causing the object to slip, or too tight, damaging the object. Therefore, there is an urgent need to develop a rigid-flexible coupling fin gripping device with a simple structure, high load-bearing capacity, wide adaptability, and force feedback function. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a flexible gripping device with a feedback mechanism. Two servo motors and a flexible thin-film pressure sensor are connected to a controller. The controller receives contact force data collected in real time by the flexible thin-film pressure sensor to control the operation of the servo motors, forming a closed loop and achieving precise gripping control.

[0005] The flexible grasping device with a feedback mechanism provided by the present invention includes: The system comprises a base, two servo motors, a first linkage mechanism, a second linkage mechanism, a first fin gripper, and a second fin gripper. The two servo motors are respectively mounted on the left and right ends of the base. The output shaft of the left servo motor is connected to the first fin gripper via the first linkage mechanism, and the output shaft of the right servo motor is connected to the second fin gripper via the second linkage mechanism. The other ends of both the first and second fin grippers are connected to the base and between the two servo motors. Flexible thin-film pressure sensors are provided on the gripping surfaces of both the first and second fin grippers. The flexible thin-film pressure sensor and the two servo motors are all connected to an external controller. The flexible thin-film pressure sensor is used to collect contact force data in real time and send the contact force data to the controller. The controller controls the operation of the two servo motors based on the contact force data to adjust the clamping force of the first fin gripper and the second fin gripper.

[0006] Preferably, the flexible gripping device further includes a connecting plate, which includes an outer connecting plate and an intermediate component; the outer connecting plate is provided with multiple outer connecting holes, the intermediate component is connected to the base, and the flexible gripping device is connected to the drive mechanism of the flexible gripping device through the outer connecting holes.

[0007] Preferably, the base includes a back plate, a first bracket and a second bracket respectively disposed at the left and right ends of the back plate, the first bracket and the second bracket being used to connect two servo motors.

[0008] Preferably, the first bracket and the second bracket have the same structure. The first bracket includes a first upper plate and a first lower plate arranged in parallel. Both the first upper plate and the first lower plate are provided with connecting holes for connecting a servo motor.

[0009] Preferably, the servo motor has a servo motor connection platform facing outward, and the servo motor connection platform has mating holes that correspond to the connection holes; the servo motor is connected to the first bracket or the second bracket by using fixing bolts passing through the mating holes and the corresponding connection holes.

[0010] Preferably, the back plate has a first output hole and a second output hole at its left and right ends, respectively. The servo output shaft of the left servo is connected to the first linkage mechanism through the first output hole, and the servo output shaft of the right servo is connected to the second linkage mechanism through the second output hole.

[0011] Preferably, the first linkage mechanism and the second linkage mechanism have the same structure; the first linkage mechanism includes a first adapter shaft, a first drive rod, a left first pin, a first link, and a left second pin; the first adapter shaft is connected to the servo output shaft of the left servo motor, one end of the first drive rod is connected to the first adapter shaft, and the other end is connected to the first link through the left first pin, and the first link is connected to the first fin clip finger through the left second pin.

[0012] Preferably, the first fin clip has the same structure as the second fin clip; the first fin clip is in the shape of an isosceles triangle, including an upper elongated hole, multiple crossbeams, a lower elongated hole, a left three-pin shaft, and a clamping surface; the upper elongated hole is connected to the base through the left three-pin shaft, the lower elongated hole is used to connect to the first linkage mechanism, the multiple crossbeams are arranged between the two sides of the isosceles triangle, and a flexible thin film pressure sensor is arranged on the clamping surface.

[0013] Preferably, the crossbeam and mounting surface are flexible.

[0014] Preferably, the flexible gripping device is symmetrical about the central axis of the outer connecting plate.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: The flexible gripping device proposed in this invention innovatively integrates the design of a linkage mechanism and flexible fin grippers: the rigid linkage mechanism provides stable load-bearing capacity for the fin grippers, ensuring that they remain structurally stable during the gripping process; the flexible fin grippers, by means of the fin effect, can adaptively wrap around and conform to objects of different geometric shapes, effectively avoiding damage to the objects during gripping.

[0016] This invention integrates a flexible thin-film pressure sensor with a force feedback function. By receiving and processing data collected by the flexible thin-film pressure sensor through a controller, it can sense and adjust the clamping force in real time, flexibly change the effective stiffness of the flexible fin clamping fingers, thereby adapting to the gripping needs of objects of different weights, further improving the stability and accuracy of gripping, and effectively preventing objects from slipping or being damaged due to overpressure.

[0017] This invention features a simple structure and convenient processing and assembly. Rigid components such as the flexible fin gripper, base, drive rod, and connecting rod can all be manufactured using 3D printing technology, which not only reduces processing costs but also facilitates precision control. The components are connected by standardized methods such as pins, threads, and flat keys, further simplifying the assembly process and facilitating later maintenance, making it very suitable for mass production.

[0018] Furthermore, the flexible gripping device of this invention has a wide range of applications and strong compatibility. Utilizing the standardized external connection holes on the external connection plate, the flexible gripping device can be easily adapted to various robotic arms. Combined with its adaptive gripping and adjustable stiffness characteristics, it can be widely used in multiple fields to meet diverse gripping needs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the flexible gripping device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the flexible gripping device provided according to an embodiment of the present invention from another angle; Figure 3 This is a schematic diagram of the connection structure between the servo output shaft and the first adapter shaft according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the first fin clip structure provided in an embodiment of the present invention.

[0020] The reference numerals in the figures include: Connecting plate 1, outer connecting plate 101, intermediate component 102, outer connecting hole 103, base 2, back plate 201, first bracket 202, first upper plate 2021, first lower plate 2022, first output hole 203, second bracket 204, second upper plate 2041, second lower plate 2042, second output hole 205, fixing bolt 206, servo motor 3, servo motor output shaft 301, servo motor connecting platform 302, first adapter shaft 4 01, First drive rod 402, Left first pin 403, First connecting rod 404, Left second pin 405, Second drive rod 502, Right first pin 503, Second connecting rod 504, Right second pin 505, First fin clamping finger 6, Upper elongated hole 601, Crossbeam 602, Lower elongated hole 603, Left third pin 604, Clamping surface 605, Second fin clamping finger 7, Right third pin 704, Flexible thin film pressure sensor 8, Flat key 9. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] like Figure 1 and Figure 2 As shown, this invention provides a flexible gripping device with a feedback mechanism, belonging to the category of biomimetic fin gripping devices. It includes a connecting plate 1, a base 2, two servo motors 3, a first linkage mechanism, a second linkage mechanism, a first fin gripper 6, a second fin gripper 7, and two flexible thin-film pressure sensors 8. The two servo motors 3 are respectively located at the left and right ends of the base 2. The left servo motor is sequentially connected to the first linkage mechanism and the first fin gripper 6, while the right servo motor is sequentially connected to the second linkage mechanism and the second fin gripper 7. The other ends of the first fin gripper 6 and the second fin gripper 7 are connected to the base 2, forming a linkage gripper structure on both sides. Details are as follows: In this embodiment of the invention, the base 2 is a rigid frame structure, 3D printed using a rigid material (e.g., photosensitive resin). Figure 1 and Figure 2As shown, the base 2 includes a back plate 201, a first bracket 202, a first output hole 203, a second bracket 204, a second output hole 205, and fixing bolts 206. The first bracket 202 and the second bracket 204 have the same structure and are symmetrically arranged at the left and right ends of the back plate 201, respectively. In this embodiment of the invention, the first bracket 202 and the second bracket 204 are integrally formed with the back plate 201. The first bracket 202 is used to install the servo motor 3 at the left end, and the second bracket 204 is used to install the servo motor 3 at the right end. The first bracket 202 includes a first upper plate 2021 and a first lower plate 2022. The first upper plate 2021 and the first lower plate 2022 are both vertically arranged at the left end of the back plate 201. The first upper plate 2021 is located above the first lower plate 2022, and the servo motor 3 at the left end is connected to the first upper plate 2021 and the first lower plate 2022. The end faces of the first upper plate 2021 and the first lower plate 2022 are each provided with two connecting holes. The corresponding upper outer surface of the left servo 3 protrudes outward to form two servo connecting platforms 302. The two servo connecting platforms 302 are respectively provided with mating holes corresponding to the connecting holes. The left servo 3 is fixed on the first upper plate 2021 and the first lower plate 2022 of the first bracket 202 by multiple fixing bolts 206.

[0027] The back plate 201 has a first output hole 203 and a second output hole 205 at its left and right ends, respectively. The first output hole 203 is located between the first upper plate 2021 and the first lower plate 2022. The servo motor 3 has a servo motor output shaft 301. The servo motor output shaft 301 of the left servo motor 3 extends through the first output hole 203 to the back of the back plate 201 and connects to the first linkage mechanism to provide power to the first linkage mechanism.

[0028] Similarly, the second bracket 204 is located at the right end of the back plate 201. The second bracket 204 includes a second upper plate 2041 and a second lower plate 2042. The servo motor 3 at the right end is connected to the second upper plate 2041 and the second lower plate 2042 by multiple fixing bolts 206. The second output hole 205 is located on the back plate 2, between the second upper plate 2041 and the second lower plate 2042. The servo motor output shaft 301 of the right-end servo motor 3 extends through the second output hole 205 to the back of the back plate 201 and connects with the second linkage mechanism to provide power to the second linkage mechanism.

[0029] The first linkage mechanism and the second linkage mechanism have the same structure and are symmetrically arranged on the left and right sides, respectively used to drive the first fin gripper finger 6 and the second fin gripper finger 7. The first linkage mechanism includes a first adapter shaft 401, a first drive rod 402, a left first pin 403, a first connecting rod 404, and a left second pin 405. Hinge holes are provided at both ends of the first drive rod 402 and the first connecting rod 404. Figure 3As shown, the first adapter shaft 401 connects the first drive rod 402 to the servo output shaft 301 on the left end via a flat key 9. A locating pin is provided between the servo output shaft 301 and the first adapter shaft 401. After installation, the locating pin is treated to prevent detachment and limit the rotational freedom between the two. The other end of the first drive rod 402 is hinged to one end of the first connecting rod 404 via a left first pin 403. The other end of the first connecting rod 404 is hinged to the first fin clip 6 via a left second pin 405. A small amount of lubricant is applied to all hinge points to reduce friction and ensure that the first fin clip 6 opens and closes flexibly.

[0030] Similarly, the second linkage mechanism includes a second drive rod 502, a right first pin 503, a second connecting rod 504, and a right second pin 505. Both ends of the second drive rod 502 and the second connecting rod 504 are provided with hinge holes. A second adapter shaft (not shown in the figure) connects the second drive rod 502 to the servo output shaft 301 on the right end via a flat key 9. The other end of the second drive rod 502 is hinged to one end of the second connecting rod 504 via the right first pin 503, and the other end of the second connecting rod 504 is hinged to the second fin clip 7 via the right second pin 505. A small amount of lubricant is applied to all hinge points to reduce friction and ensure the second fin clip 7 opens and closes flexibly.

[0031] In this embodiment of the invention, the first fin clip 6 and the second fin clip 7 are integrally formed by 3D printing using a flexible material (such as TPU85A), which has good flexibility and fatigue resistance.

[0032] The first fin clip 6 and the second fin clip 7 are respectively connected to the first linkage mechanism and the second linkage mechanism. The first fin clip 6 and the second fin clip 7 have the same structure, both being isosceles triangles, and are also symmetrically distributed. For example... Figure 4As shown, the first fin gripper 6 includes an upper elongated hole 601, a crossbeam 602, a lower elongated hole 603, a left three-pin shaft 604, and a clamping surface 605. Two small holes are provided on the back plate 201 between the first support 202 and the second support 204. The upper elongated hole 603 of the first fin gripper 6 is hinged to the small hole on the left side of the back plate 201 via the left three-pin shaft 604, and a small amount of lubricant is applied to the hinge. The lower elongated hole 603 is used to connect the first connecting rod 404 of the first linkage mechanism. Multiple crossbeams 602 are arranged between the two sides of an isosceles triangle, parallel to each other and evenly spaced. The clamping surface 605 is the surface opposite to the first fin gripper 6 and the second fin gripper 7, and a flexible thin-film pressure sensor 8 is disposed on it. In this embodiment of the invention, the flexible thin-film pressure sensor 8 adopts a flexible thin-film structure and is fixed by double-sided adhesive. The crossbeam 602 and the clamping surface 605 are flexible. When the flexible gripping device clamps an object, both the clamping surface 605 and the crossbeam 602 deform and bend in the load direction under the action of the fin effect to cover the clamped object.

[0033] The second fin gripper 7 also includes an upper elongated hole, a crossbeam, a lower elongated hole, a right triple pin 704, and a gripping surface. The second fin gripper 7 is hinged to a small hole on the right side of the back plate 201 through the upper elongated hole, with a small amount of lubricant applied to the hinge. The second fin gripper 7 is connected to the second link 504 of the second linkage mechanism through the lower elongated hole and the right triple pin 704. Multiple crossbeams are arranged in the second fin gripper 7. Another flexible thin-film pressure sensor 8 is arranged on the gripping surface of the second fin gripper 7. The crossbeams and gripping surface are flexible; when the flexible gripping device grips an object, both the gripping surface and the crossbeam deform, bending in the load direction under the fin effect to cover the gripped object and cooperate with the first fin gripper 6.

[0034] Flexible gripping devices are typically mounted on drive mechanisms such as robotic arms, which then move the device. Therefore, the flexible gripping device also includes a connecting plate 1, which comprises an outer connecting disk 101 and an intermediate component 102. The outer connecting disk 101 has multiple standardized external connecting holes 103. The intermediate component 102 is connected to the upper edge of the back plate 201 of the base 2, and the intermediate component 102 and the back plate 201 can be fabricated as an integral structure or a detachable connection structure. The flexible gripping device is connected to its drive mechanism via the external connecting holes 103.

[0035] To ensure balanced left and right gripping forces of the flexible gripping device, in this embodiment of the invention, the flexible gripping device is configured to be symmetrical about the central axis of the outer connecting disk 101.

[0036] To ensure that the contact force of the first fin gripper 6 and the second fin gripper 7 when clamping an object is moderate and controllable, this embodiment of the invention also includes a closed-loop feedback mechanism. Specifically, this embodiment of the invention also includes a controller, and the signal output terminal of the flexible thin-film pressure sensor 8 is electrically connected to the controller via a wire, which is arranged along the wire groove on the side of the first fin gripper 6 (or the second fin gripper 7). When the first fin gripper 6 and the second fin gripper 7 clamp an object, the flexible thin-film pressure sensor 8 on the two clamping surfaces senses and collects contact force data in real time, and transmits the processed data to the controller. Based on the weight, material, and shape of the target object, initial driving force parameters are preset inside the controller. The controller analyzes the contact force data and compares it with the preset driving force parameters to determine whether the clamping force of the first fin gripper 6 and the second fin gripper 7 is too large or too small.

[0037] The controller establishes a communication connection with two servo motors 3 via wires. Based on the above analysis and comparison, the controller adjusts the driving force of the servo motors 3, changing the effective stiffness of the first fin gripper finger 6 and the second fin gripper finger 7 to achieve closed-loop control. This adaptable to the gripping needs of objects of different weights, and with the force feedback function of the flexible thin-film pressure sensor 8, it can adjust the gripping force in real time, further improving gripping stability and accuracy, and preventing slippage or overpressure damage. Simultaneously, during the gripping process, the controller can also send gripping or releasing commands to control the first fin gripper finger 6 and the second fin gripper finger 7 to grip or release the object. After the flexible gripping device finishes gripping, the controller can also control the first fin gripper finger 6 and the second fin gripper finger 7 to reset, completing the gripping cycle.

[0038] Before operation, basic parameters such as the weight, material, and shape of the object to be grasped are preset in the controller. During operation, the drive mechanism moves the flexible grasping device close to the object. The controller issues a gripping command, controlling two servo motors 3 to drive the first and second linkage mechanisms, causing the first fin gripper 6 and the second fin gripper 7 to open and cover the object, thus grasping the target object. During the grasping process, the flexible film pressure sensor 8 senses and collects contact force data in real time and transmits the processed data to the controller. The controller analyzes the contact force data and adjusts the operation of the servo motors 3 in real time according to the preset basic parameters to change the gripping force of the first fin gripper 6 and the second fin gripper 7, keeping the gripping force within the preset range to ensure stable grasping without damaging the object. After the flexible grasping device moves the object to the target position, the controller sends a release command, the servo motors 3 rotate in the reverse direction, causing the first fin gripper 6 and the second fin gripper 7 to reset, releasing the object and completing one grasping cycle.

[0039] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0040] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flexible grasping device with a feedback mechanism, characterized in that, include: The system comprises a base, two servo motors, a first linkage mechanism, a second linkage mechanism, a first fin gripper, and a second fin gripper. The two servo motors are respectively mounted on the left and right ends of the base. The servo motor output shaft of the left servo motor is connected to the first fin gripper via the first linkage mechanism, and the servo motor output shaft of the right servo motor is connected to the second fin gripper via the second linkage mechanism. The other ends of the first and second fin grippers are both connected to the base and between the two servo motors. Flexible thin-film pressure sensors are provided on the gripping surfaces of both the first and second fin grippers. The first linkage mechanism has the same structure as the second linkage mechanism; the first linkage mechanism includes a first adapter shaft, a first drive rod, a left first pin, a first connecting rod, and a left second pin; the first adapter shaft is connected to the servo output shaft of the servo motor at the left end, one end of the first drive rod is connected to the first adapter shaft, and the other end is connected to the first connecting rod through the left first pin, and the first connecting rod is connected to the first fin clip finger through the left second pin; The first fin clip has the same structure as the second fin clip; the first fin clip is in the shape of an isosceles triangle, including an upper elongated hole, multiple crossbeams, a lower elongated hole, a left three-pin shaft, and a clamping surface; the upper elongated hole is connected to the base through the left three-pin shaft, the lower elongated hole is used to connect to the first linkage mechanism, the multiple crossbeams are arranged between the two sides of the isosceles triangle, and a flexible thin film pressure sensor is provided on the clamping surface. The flexible thin-film pressure sensor and the two servo motors are all connected to an external controller. Before operation, the weight, material, and shape parameters of the object to be grasped are preset in the controller, and the initial driving force parameters are preset inside the controller. The flexible thin-film pressure sensor is used to collect contact force data in real time and send the contact force data to the controller. The controller analyzes the contact force data and compares it with the preset driving force parameters to determine whether the clamping force of the first fin gripper and the second fin gripper is too large or too small. The controller controls the operation of the two servo motors according to the contact force data to adjust the clamping force of the first fin gripper and the second fin gripper. Adjusting the driving force of the two servos changes the effective stiffness of the first fin gripper and the second fin gripper.

2. The flexible gripping device with a feedback mechanism according to claim 1, characterized in that, The flexible gripping device also includes a connecting plate, which includes an outer connecting disk and an intermediate component. The outer connecting disk is provided with multiple outer connecting holes, and the intermediate component is connected to the base. The flexible gripping device is connected to the drive mechanism of the flexible gripping device through the outer connecting holes.

3. The flexible gripping device with a feedback mechanism according to claim 1, characterized in that, The base includes a back plate, a first bracket and a second bracket respectively disposed at the left and right ends of the back plate, and the first bracket and the second bracket are used to connect the two servo motors.

4. The flexible gripping device with a feedback mechanism according to claim 3, characterized in that, The first bracket and the second bracket have the same structure. The first bracket includes a first upper plate and a first lower plate arranged in parallel. Both the first upper plate and the first lower plate are provided with connecting holes for connecting the servo motor.

5. The flexible gripping device with a feedback mechanism according to claim 4, characterized in that, The servo motor has a servo motor connection platform facing outwards, and the servo motor connection platform has a mating hole that corresponds to the connection hole. The servo motor is connected to the first bracket or the second bracket by using a fixing bolt passing through the mating hole and the corresponding connection hole.

6. The flexible gripping device with a feedback mechanism according to claim 3, characterized in that, The back plate has a first output hole and a second output hole at its left and right ends, respectively. The servo output shaft of the servo at the left end is connected to the first linkage mechanism through the first output hole, and the servo output shaft of the servo at the right end is connected to the second linkage mechanism through the second output hole.

7. The flexible gripping device with a feedback mechanism according to claim 1, characterized in that, The crossbeam and the clamping surface are flexible.

8. The flexible gripping device with a feedback mechanism according to claim 2, characterized in that, The flexible gripping device is symmetrical about the central axis of the outer connecting disk.

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