Indirectly rope-driven force-coupled enhanced and self-sensing soft gripper and unmanned aerial vehicle

Abstract

The application provides an indirect rope-driven force coupling enhanced and self-sensing soft gripper and unmanned aerial vehicle, and relates to the technical field of soft-bodied robots, which comprises a gripper base, a jointed soft claw, a middle beam actuator, a ring-shaped connecting block, a driving steering engine, a driving cable, a wedge-shaped adhesive surface and an embedded rib-shaped capacitive sensing unit; the jointed soft claw, the middle beam actuator and the driving steering engine are fixedly arranged on the gripper base; a plurality of groups of the middle beam actuators and the ring-shaped connecting blocks are arranged in a circumferential array; one end of the driving cable is wound around a steering disc of the driving steering engine, the other end passes through cable positioning grooves of the middle beam actuator and the ring-shaped connecting block, and is fixed at a tail of the jointed soft claw; the driving steering engine pulls the driving cable, so that the middle beam actuator is deformed in bending, and simultaneously drives the corresponding jointed soft claw to bend and close in the joint direction; the embedded rib-shaped capacitive sensing unit is arranged in a circumferential array at the bottom of the middle beam actuator, and is used for sensing the contact state of the jointed soft claw and a target object.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, and in particular to an indirect rope-driven force coupling enhancement and self-sensing soft gripper and drone. Background Technology

[0002] As applications such as wildlife protection, environmental inspection, and covert reconnaissance place increasing demands on drones for long-duration operation, low-power monitoring, and adaptability to complex environments, micro drones have become an effective technological approach to improve their endurance and mission concealment by using soft grippers to attach to targets such as tree branches, slopes, walls, roof edges, and pillars.

[0003] Existing soft grippers typically rely on direct cable-driven or rigid transmission structures to achieve gripper closure. These structures generally house the drive cable inside the gripper, using a servo motor to directly pull the gripper, causing it to bend towards the target object for clamping or climbing. While these structures possess some conformal capabilities, in micro-UAV applications, limitations such as overall wheelbase, gripper weight, servo motor output capacity, and sensor integration space make it difficult for traditional structures to simultaneously achieve lightweight design, high gripping force, cross-scenario adaptability, and contact status awareness.

[0004] Furthermore, existing soft grippers rely heavily on external independent sensors or complex wiring structures for contact status sensing. These sensors occupy a significant amount of space, increasing the gripper's weight and assembly complexity. For micro-UAVs, external sensing structures further compress the space available for the drive mechanism and soft gripper structure, leading to a decrease in the overall compactness of the gripper and making it difficult to meet the integration requirements of miniaturized platforms. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an indirect rope-driven force coupling enhancement and self-sensing soft gripper and drone.

[0006] The technical solutions provided by the embodiments of the present invention are as follows: The first aspect of the present invention provides an indirect rope-driven force coupling enhancement and self-sensing soft gripper, comprising: a gripper base, an articulated soft claw, a middle beam actuator, a circumferential connecting block, a drive servo motor, a drive cable, a wedge-shaped adhesive surface, and an embedded rib-shaped capacitive sensing unit. The gripper base is fixedly equipped with the articulated soft claw, the intermediate beam actuator, and the drive servo motor. Multiple sets of the intermediate beam actuators and the circumferential connecting blocks are arranged in a circumferential array, and the interior of each intermediate beam actuator and the circumferential connecting block is provided with a cable positioning groove; One end of the drive cable is wound around the rudder of the drive servo motor, and the other end passes through the cable positioning groove of the intermediate beam actuator and the circumferential connecting block, and is fixed to the tail of the articulated soft claw. The drive servo pulls the drive cable, causing the intermediate beam actuator to bend and deform, and at the same time driving the corresponding articulated soft claw to bend and close along the joint direction. The embedded ribbed capacitive sensing units are arranged in a circumferential array at the bottom of the intermediate beam actuator to sense the contact state between the articulated soft claw and the target object.

[0007] Optionally, the intermediate beam actuator and the circumferential connecting block are divided into 3 groups, and the drive cables are divided into 3 groups and arranged outside the articulated soft claw. Each group of drive cables has two cables, which are buried inside the intermediate beam actuator and the circumferential connecting block and are distributed symmetrically in both directions.

[0008] Optionally, the three sets of intermediate beam actuators serve as driving intermediates, forming six sets of actuators together with the articulated soft claws. These six sets of actuators are driven by the three sets of driving servos, with each set of driving servos driving one set of driving cables. The three sets of driving servos simultaneously drive the three sets of driving cables, causing the six sets of actuators to undergo coordinated bending deformation and mutually constrain each other. The driving of a single intermediate beam actuator is influenced by the driving servos on both sides.

[0009] Optionally, the articulated soft claw can be used to grasp or release in multiple modes by controlling the drive angle and the number of drive groups of the drive servo motor.

[0010] Optionally, the conformal size range and gripping force range of the soft gripper can be adjusted by the intermediate beam length s of the intermediate beam actuator and the circumferential radius r of the articulated soft gripper.

[0011] Optionally, the embedded ribbed capacitive sensing unit adopts a layered structure, consisting of a ribbed pressure-bearing elastomer, a dielectric, and copper interdigitated electrodes from top to bottom, which senses minute contact pressure by collecting changes in capacitance between the electrodes.

[0012] Optionally, the articulated soft claw is made of silicone, and the intermediate beam actuator is made of TPU.

[0013] Optionally, the bottom of the articulated soft claw has a wedge-shaped adhesive surface.

[0014] A second aspect of the present invention provides a drone equipped with the aforementioned indirect rope-driven force coupling enhancement and self-sensing soft gripper.

[0015] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: (1) In this embodiment of the invention, by designing cables and flexible intermediate beam actuators on the outside of the gripper, and utilizing the circumferential wrapping and force coupling enhancement effect generated by the 6 sets of actuators of the gripper, the gripping force of the micro soft gripper is significantly improved, and the gripping performance of the gripper is better than that of the traditional direct rope drive system.

[0016] (2) In this embodiment of the invention, the embedded ribbed contact capacitive sensing units are arrayed and integrated below the middle beam actuator. The ribbed structure increases the normal contact area between the dielectric and the copper interdigital electrodes, enabling the sensing units to exhibit excellent sensitivity within a small contact area, and to sense normal contact pressure in the range of 10g to 90g. By using a 0-1 threshold decision on the contact state of each sensing unit, the gripper can recognize and autonomously decide on deformation for three typical habitat scenarios (slope, corner, and pillar). Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 The front view of an indirect rope-driven force coupling enhancement and self-sensing soft gripper provided in an embodiment of the present invention, from a first-view perspective.

[0019] Figure 2 The image shows a front view from a second perspective of an indirect rope-driven force coupling enhancement and self-sensing soft gripper provided in an embodiment of the present invention.

[0020] Figure 3 This is an exploded structural diagram of an embedded ribbed capacitive sensing unit provided in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram illustrating the coordinated bending deformation of six actuators under a soft gripper force coupling enhancement structure, as provided in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of an embedded ribbed capacitive sensing unit for sensing contact pressure, provided as an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of a soft gripper for climbing a slope, provided as an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of a soft gripper for climbing edges, provided as an embodiment of the present invention.

[0025] Figure 8This is a schematic diagram of a soft gripper for climbing an inclined column, provided as an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram illustrating the construction of a micro unmanned aerial vehicle (UAV) test platform with a soft gripper, as provided in an embodiment of the present invention.

[0027] Figure 10 This is a structural diagram of a micro unmanned aerial vehicle (UAV) connector provided in an embodiment of the present invention.

[0028] Reference numerals: 1. Drive servo motor; 2. Embedded ribbed capacitive sensing unit; 21. Rib-shaped compression elastic body; 22. Dielectric; 23. Copper interdigitated electrode; 24. Encapsulation layer; 3. Articulated soft claw; 4. Wedge-shaped adhesive surface; 5. Drive cable; 6. Intermediate beam actuator; 7. Circumferential connecting block; 8. Grip base; 9. Target object; 10. Ramp; 11. Edge; 12. Variable tilt angle column; 13. Micro UAV connecting frame; 131. Grip positioning connecting block; 132. UAV assembly frame; 133. Fixed base frame; 14. Micro UAV.

[0029] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0030] The technical solutions of the present invention will now be described with reference to the accompanying drawings. It should also be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also use other alternative methods to implement the invention; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0031] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0032] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0033] It is understood that the meanings of “on”, “above”, and “above” in this invention should be interpreted in the broadest manner, such that “on” not only means “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” not only means “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0034] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0035] Example 1

[0036] like Figures 1 to 4 As shown, an embodiment of the present invention provides an indirect rope-driven force coupling enhancement and self-sensing soft gripper, comprising: a gripper base 8, an articulated soft claw 3, an intermediate beam actuator 6, a circumferential connecting block 7, a drive servo motor 1, a drive cable 5, a wedge-shaped adhesive surface 4, and an embedded rib-shaped capacitive sensing unit 2.

[0037] The gripper base 8 is fixedly equipped with an articulated soft claw 3, an intermediate beam actuator 6, and a drive servo motor 1.

[0038] Multiple sets of intermediate beam actuators 6 and circumferential connecting blocks 7 are arranged in a circumferential array, and cable positioning grooves are provided inside the intermediate beam actuators 6 and circumferential connecting blocks 7.

[0039] One end of the drive cable 5 is wrapped around the rudder of the drive servo motor 1, and the other end passes through the cable positioning groove of the intermediate beam actuator 6 and the circumferential connecting block 7, and is fixed to the tail of the articulated soft claw 3.

[0040] The drive servo motor 1 pulls the drive cable 5, causing the intermediate beam actuator 6 to bend and deform, which in turn drives the corresponding articulated soft claw 3 to bend and close along the joint direction.

[0041] By placing the drive cable 5 outside the soft gripper and guiding it through the cable positioning groove inside the intermediate beam actuator 6 and the circumferential connecting block 7, the drive cable 5 is prevented from occupying the internal space of the articulated soft gripper 3, thus enabling the articulated soft gripper 3 to maintain better flexible bending ability and conformability to the target object 9.

[0042] Embedded ribbed capacitive sensing units 2 are arranged in a circumferential array at the bottom of the central beam actuator 6 to sense the contact state between the articulated soft claw 3 and the target object 9. During the grasping process, the embedded ribbed capacitive sensing units 2 can characterize the magnitude of the grasping force of the soft claw in real time. The embedded ribbed contact capacitive sensing units 2 are arrayed and integrated below the central beam actuator, achieving contact state sensing without significantly increasing the external volume of the gripper, which is suitable for the lightweight, compact, and highly integrated requirements of the micro-UAV 14. Simultaneously, the ribbed structure increases the normal contact area between the dielectric and the copper interdigital electrodes, enabling the sensing units to exhibit excellent sensitivity within a small contact area, sensing normal contact pressure ranging from 10g to 90g. By using a 0-1 threshold decision on the contact state of each sensing unit, the gripper can recognize and autonomously decide on deformation for three typical habitat scenarios (slope, edge, and pillar).

[0043] Optionally, the intermediate beam actuator 6 and the circumferential connecting block 7 are divided into 3 groups, and the drive cables 5 are divided into 3 groups and arranged outside the articulated soft claw 3. Each group of drive cables 5 has two cables, which are buried inside the intermediate beam actuator 6 and the circumferential connecting block 7 and are distributed in a bidirectional symmetrical manner.

[0044] Optionally, three sets of intermediate beam actuators 6 serve as driving intermediates, forming six sets of actuators (articular soft claw 3 and three intermediate beam actuators 6) together with the articulated soft claw 3. These are driven by three sets of drive servos 1, each driving one set of drive cables 5. The three sets of drive servos 1 simultaneously drive the three sets of drive cables 5, causing the six actuators to undergo coordinated bending deformation and mutually constrain each other. The driving of a single intermediate beam actuator 6 is influenced by both drive servos on either side, generating a force coupling enhancement effect, increasing the gripper's grasping force on the target object. After the soft gripper closes, a circumferential force constraint is formed, completing a stable grasp of the target object. By designing cables and flexible intermediate beam actuators on the outside of the gripper, and utilizing the circumferential wrapping and force coupling enhancement effect generated by the six sets of actuators, the grasping force of the miniature soft gripper is significantly improved, and the gripping performance is superior to that of traditional direct rope drive systems.

[0045] Optionally, by controlling the drive angle and the number of drive groups of the drive servo motor 1, the articulated soft claw 3 can achieve multi-mode grasping or releasing, which is suitable for different climbing scenarios. It can quickly switch between different deformation modes with a response time of less than 1 second.

[0046] Optionally, the conformal size range and gripping force range of the soft gripper can be adjusted by the intermediate beam length s of the intermediate beam actuator 6 and the gripper circumferential radius r of the articulated soft gripper 3.

[0047] Optionally, the embedded ribbed capacitive sensing unit 2 adopts a layered structure, consisting of a ribbed pressure-bearing elastomer 21, a dielectric 22, and copper interdigitated electrodes 23 from top to bottom. It senses the minute contact pressure Fn by collecting the change in capacitance between the electrodes.

[0048] Optionally, the articulated soft claw 3 is made of low-stiffness silicone and molded using a mold. The intermediate beam actuator 6 is made of high-stiffness TPU and fabricated using 3D printing technology. Both silicone and TPU are flexible materials.

[0049] Optionally, the bottom of the articulated soft claw 3 adopts a wedge-shaped adhesive surface 4, which enables the soft claw to obtain an auxiliary adhesion effect when contacting surfaces such as the ramp 10, thereby improving the load capacity and climbing reliability of the soft claw.

[0050] Example 2

[0051] Combination Figure 2 , Figure 3 , Figure 5 As shown, this embodiment provides an embedded ribbed capacitive sensing unit 2, measuring 13mm × 8mm × 2.6mm. It employs a layered structure (from top to bottom: ribbed pressure-bearing elastomer 21, dielectric 22, copper interdigital electrodes 23, and encapsulation layer 24) to construct three sets of centrally symmetrical arrayed capacitive sensing units, each integrated below one of the three intermediate beam actuators 6. The ribbed pressure-bearing elastomer 21 is made of silicone with a low elastic modulus. The dielectric 22 is made of semiconductor material. The copper interdigital electrodes 23 are fabricated using laser cutting technology. The encapsulation layer 24 is made of PLA material and fabricated using 3D printing technology.

[0052] Combination Figure 5 As shown, in this example, the intermediate beam actuator 6 bends and deforms under the traction of the drive cable 5. The embedded rib-shaped capacitive sensing unit 2 at its bottom conformally contacts the surface of the target object 9. The minute contact pressure Fn is transmitted to the surface of the dielectric 22 through the rib structure, causing it to contact the copper interdigital electrode 23 below, which in turn causes a significant change in the capacitance value between the electrodes. The acquisition of the above capacitance signal can complete the sensing of the minute contact pressure Fn. There is a good correspondence between Fn and the capacitance change ∆C.

[0053] Example 3

[0054] Combination Figure 6 , Figure 7 , Figure 8 As shown, based on embodiments 1 and 2, this embodiment provides a 0-1 threshold decision strategy. Based on the magnitude, quantity, and location of the capacitance signals generated by each set of embedded ribbed capacitive sensing units 2 on the gripper, it autonomously determines the current climbing scenario, drives the corresponding servo motor, and causes the gripper to perform corresponding deformation movements. Ultimately, this enables the soft gripper to climb and perch on typical scenarios such as slopes 10, edges 11, and variable tilt angle pillars 12. Combined with... Figure 9 , Figure 10 As shown, this example provides a method for constructing a micro-UAV-borne test platform. The micro-UAV connecting frame 13 integrates the indirect rope-driven force coupling enhancement and self-sensing soft gripper with the micro-UAV 14. Specifically, the micro-UAV connecting frame 13 consists of a gripper positioning connecting block 131, a UAV assembly frame 132, and a fixed base frame 133. After the gripper positioning connecting block 131 is fixedly connected to the gripper base 8, its three positioning holes are fixedly connected to the UAV assembly frame 132. The fixed base frame 133 is installed on the top of the UAV assembly frame 132, and its two mounting holes are threadedly connected to the micro-UAV 14.

[0055] In this example, under three different scenarios (slope 10, edge 11, and variable tilt angle column 12), the gripper contacts the target and enters the recognition state and then the gripping state. After the UAV enters landing mode and contacts the target, the gripper enters the recognition state. Its three sets of embedded ribbed capacitive sensing units 2 contact or suspend on the current target surface, triggering a contact state response and obtaining the final sensing (contact) state: 0 or 1. Using this mechanism, the final sensing (contact) state of the three sets of sensing units is detected under different scenarios, thereby enabling the micro-UAV 14 to autonomously perceive and recognize different landing scenarios. Afterwards, the soft gripper enters the gripping state. By driving the corresponding servo motor, the gripper deforms accordingly, gripping the current target, ultimately completing the gripping mode selection after soft gripper sensing and recognition. Specifically, combined with... Figure 6 As shown, when the grabber lands on slope 10, the contact status of all three sets of sensing units is 1, which means that the contact capacitance signal has reached the set threshold C. th This indicates that the current position is stable and requires no servo drive. At this point, the gripper adheres to the slope 10 via the wedge-shaped adhesion surface 4; combined with Figure 7 As shown, when the grabber lands on the edge 11, two sets of sensor units are in contact state 1, and the other set of sensor units is in contact state 0. 0 represents no contact capacitor signal, indicating that the current position is suspended and relatively dangerous. The drive servo 1 drives the corresponding set of drive cables 5, causing the middle beam actuator 6 of that set to bend and the adjacent articulated soft claw 3 to retract, thereby gripping the edge 11; combined with Figure 8 As shown, when the gripper lands on the variable tilt angle column 12, the contact status of all three sets of sensing units is 0, indicating that all three points are suspended and the micro-drone 14 has difficulty perching. At this time, all three sets of drive servos 1 pull the drive cable 5, causing the gripper to deform, thereby achieving successful climbing and perching on the column. The soft gripper and the micro-drone 14 are stably integrated through the micro-drone connecting frame 13. The gripper positioning connecting block 131, the drone assembly frame 132, and the fixed base frame 133 in the micro-drone connecting frame 13 can sequentially complete the positioning of the gripper base 8, the support of the drone assembly frame 132, and the fixation of the micro-drone 14, giving the soft gripper a practical assembly foundation for micro-drone climbing tasks.

[0056] Example 4

[0057] Combination Figure 8 As shown, based on embodiments 1, 2, and 3, this embodiment provides an adaptive control method that allows the soft gripper to attach to columns with different tilt angles. Specifically, after the soft gripper completes the initial conformal attachment, the variable tilt angle column 12 begins to tilt, and the capacitance change ∆C of the three sets of embedded rib-shaped capacitive sensing units 2 gradually deviates from the initial value, eventually causing the micro-drone 14 to become unstable and fall. This embodiment is based on the classic Active Disturbance Rejection Controller (ADRC). Under different tilt angles, when the micro UAV 14 is in a critical state from not falling to falling, the target capacitance change target ∆C of the embedded rib-shaped capacitive sensing unit 2 is set. After the variable tilt angle column 12 gradually tilts, the controller dynamically adjusts the rotation angle of the three sets of drive servos 1 according to the real-time observation results of ∆C of each set of sensing units. This makes the sensing unit ∆C quickly recover to near the target ∆C and remain stable. As a result, the pressure of the articulated soft claw 3 is redistributed, and the gripping torque in the normal direction of the gripper and the gravity overturning torque are dynamically balanced. Finally, adaptive and stable climbing of columns with different tilt angles is achieved.

[0058] Under ultra-lightweight constraints (gripper weight <15 g, UAV wheelbase ≤10 cm), the gripper is integrated into the UAV. Benefiting from the gripper's structural and mechanical design, the capacitance change ∆C of the sensing unit and the gripper's normal gripping force Fn exhibit good feedback characterization and adaptive control relationship. Under a first-order active disturbance rejection (ADRC) controller, it demonstrates good control stability and convergence, increasing the maximum column tilt angle that the gripper can climb from 32° to 48°. It also achieves stable climbing under dynamic disturbances such as 3 Hz swaying and knocking, solving the problem that the resultant normal gripping force of the gripper cannot resist the gravitational overturning moment, leading to UAV instability and crashes under traditional methods. For field reconnaissance applications, it enables continuous adaptive dynamic climbing and stable resting of micro-UAVs on tilted branches, slopes, and building eaves.

[0059] Example 5

[0060] An embodiment of the present invention provides a drone equipped with the aforementioned indirect rope-driven force coupling enhancement and self-sensing soft gripper. This allows the drone to not only adapt to different targets 9 such as branches, slopes, edges, and pillars using the flexible conformal capability of the soft gripper, but also to achieve circumferential multi-point constraint and force coupling enhancement through the synergistic action of the drive servo motor 1, drive cable 5, intermediate beam actuator 6, and articulated soft gripper 3. This significantly improves climbing gripping force and perching stability. Simultaneously, the embedded ribbed capacitive sensing unit 2 can sense the contact state between the gripper and the target 9 in real time and provide feedback for the gripping adjustment of the drive servo motor 1. This allows the drone to autonomously select a gripping mode according to different climbing scenarios and suppress external disturbances, thereby achieving low-power, long-duration, adaptive, robust climbing and stable perching of the micro-drone 14 in complex environments.

[0061] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A force coupling enhancement and self-sensing soft gripper with indirect rope drive, characterized in that, include: The gripper base (8), articulated soft claw (3), intermediate beam actuator (6), circumferential connecting block (7), drive servo motor (1), drive cable (5), wedge-shaped adhesive surface (4), and embedded rib-shaped capacitive sensing unit (2). The gripper base (8) is fixedly provided with the articulated soft claw (3), the intermediate beam actuator (6) and the drive servo motor (1); Multiple sets of the intermediate beam actuators (6) and the circumferential connecting blocks (7) are arranged in a circumferential array, and the interior of the intermediate beam actuators (6) and the circumferential connecting blocks (7) is provided with cable positioning grooves; One end of the drive cable (5) is wrapped around the rudder disk of the drive servo (1), and the other end passes through the cable positioning groove of the intermediate beam actuator (6) and the circumferential connecting block (7) and is fixed to the tail of the articulated soft claw (3). The drive servo motor (1) pulls the drive cable (5), causing the intermediate beam actuator (6) to bend and deform, and at the same time driving the corresponding articulated soft claw (3) to bend and close along the joint direction. The embedded ribbed capacitive sensing unit (2) is arranged in a circumferential array at the bottom of the intermediate beam actuator (6) to sense the contact state between the articulated soft claw (3) and the target object (9).

2. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, The intermediate beam actuator (6) and the circumferential connecting block (7) are divided into 3 groups, and the drive cables (5) are divided into 3 groups and arranged outside the articulated soft claw (3). Each group of drive cables (5) has two cables, which are buried inside the intermediate beam actuator (6) and the circumferential connecting block (7) and are distributed in a bidirectional symmetrical manner.

3. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 2, characterized in that, The three sets of intermediate beam actuators (6) serve as driving intermediates and together with the articulated soft claws (3) form six sets of actuators, which are driven by the three sets of driving servo motors (1). Each set of driving servo motors (1) drives one set of driving cables (5). The three sets of driving servo motors (1) simultaneously drive the three sets of driving cables (5), causing the six sets of actuators to undergo coordinated bending deformation and mutual constraint. The driving of a single intermediate beam actuator (6) is affected by the driving servo motors on both sides.

4. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, By controlling the drive angle and the number of drive groups of the drive servo motor (1), the articulated soft claw (3) can achieve multi-mode grasping or releasing.

5. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, The conformal size range and gripping force range of the soft gripper can be adjusted by the intermediate beam length s of the intermediate beam actuator (6) and the gripper circumferential radius r of the articulated soft gripper (3).

6. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, The embedded rib-shaped capacitive sensing unit (2) adopts a layered structure, consisting of a rib-shaped pressure-bearing elastomer (21), a dielectric (22), and copper interdigitated electrodes (23) from top to bottom. It senses minute contact pressure by collecting changes in capacitance between electrodes.

7. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, The articulated soft claw (3) is made of silicone, and the intermediate beam actuator (6) is made of TPU.

8. The indirect rope-driven force coupling enhancement and self-sensing soft gripper according to claim 1, characterized in that, The bottom of the articulated soft claw (3) adopts a wedge-shaped adhesive surface (4).

9. A drone, characterized in that, The device is equipped with an indirect rope-driven force coupling enhancement and self-sensing soft gripper as described in any one of claims 1 to 8.

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