Soft body grabbing device and method based on artificial muscle driving

A technology of artificial muscles and grasping devices, which is applied in the field of flexible robots, can solve the problems that the overall structure cannot be miniaturized, it is difficult to realize miniaturization and light weight, and it is not suitable for large-scale applications, so as to reduce the overall price cost and time cost, The appearance is neat and tidy, and the effect of miniaturization is realized

Active Publication Date: 2020-12-25
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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AI Technical Summary

Problems solved by technology

[0005] Chinese patent 201710346369.1 adopts the method of soft adsorption, which drives the fingers to bend by air pressure, and at the same time grasps the object through the adsorption force of the suction cup on the soft arm. This structure requires high quality on the surface of the grasped object. If the surface is uneven then the crawling performance will be greatly reduced.
[0006] Chinese patent 201821781114.4 discloses an industrial soft grasping robot. By inflating the spherical structure, the internal particles can squeeze the grasped object to achieve grasping. This method can only grasp small objects, and the volume is larger than the spherical structure. Objects are helpless;
[0007] Chinese patent 201720365517.X discloses a gas-driven flexible polymer soft manipulator, which uses an external air pump to inflate the air cavity in the hand of the soft grasping hand, so that the fingers can be bent to achieve gra

Method used

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  • Soft body grabbing device and method based on artificial muscle driving
  • Soft body grabbing device and method based on artificial muscle driving
  • Soft body grabbing device and method based on artificial muscle driving

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Embodiment Construction

[0052] A soft grasping device driven by artificial muscles, such as figure 1 As shown in -6, it includes an arm 100, a palm 200 and three soft fingers 300. The palm 200 is set on the arm 100, and the three soft fingers 300 are set on the palm 200 in an evenly distributed manner.

[0053] The soft finger 300 includes an end cap 310, a finger body 320, a bending sensor 330, an artificial muscle 340, and a high-temperature-resistant tube 350. The finger body 320 is connected to the palm 200 through the end cap 310. The finger body 320 is equipped with The first slot 321, the second slot 322, the third slot 323, such as Figure 4 , 5 As shown, among them, Figure 5 a is a longitudinal sectional view of the finger body 320, Figure 5 b is a transverse cross-sectional view of the finger body 320. The artificial muscle 340 is set in the first slot 321 after being set in the high temperature resistant tube 350 and is located on the grasping front of the finger body 320. The bending se

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Abstract

The invention provides a soft body grabbing device and method based on artificial muscle drive. The soft body grabbing device comprises an arm, a palm and a plurality of soft body fingers, wherein thepalm is arranged on the arm, the soft body fingers are uniformly distributed or oppositely arranged on the palm, each soft finger comprises an end cover, a finger body, a bending sensor and artificial muscles, each finger body is connected to the palm through the corresponding end cover, a first slot, a second slot and a third slot which are parallel in the axis direction of each finger body areformed in each finger body, the artificial muscles are arranged in each first slot and located on the grabbing front face of the corresponding finger body, each bending sensor is arranged in the corresponding second slot and located on the grabbing back face of the corresponding finger body, a connecting wire is arranged in each third slot and located in the middle of the corresponding finger body, and each first slot, the corresponding second slot and the corresponding third slot communicate with one another. The soft body grabbing device has the advantages of being compact in structure and high in grabbing capacity.

Description

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Claims

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Application Information

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Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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