Magnetorheological smart skin

Abstract

The invention discloses magnetorheological smart skin, which comprises working units and a flat washer. Each working unit consists of a cylinder, a bottom plate, a pore plate, a spherical shell, an elastic film and an excitation coil or electromagnet, wherein the spherical shell is fixed at the upper end of the cylinder; the bottom plate is fixed at the lower end of the cylinder; the elastic film is fixed on a middle lower part in the cylinder; the pore plate is fixed in the cylinder between the spherical shell and the elastic film; the excitation coil or electromagnet is fixed on the outer periphery of the cylinder; each of the cylinder, the bottom plate, the elastic film and the spherical shell is made from a high polymer elastic material; the pore plate is made from a nonmagnetic conducting material; a gas with certain pressure is filled into a cavity between the elastic film and the bottom plate in the cylinder; and a space between the spherical shell and the elastic film in the cylinder is filled with magnetorheological fluid. The flat washer is made from a high polymer elastic material. A plurality of flat-bottomed blind holes are distributed on one plane of the flat washer. The thickness of the flat washer is greater than the length of each cylinder. A plurality of working units are fixed in the flat-bottomed blind holes of the flat washer.

Description

technical field [0001] The invention belongs to a robot skin, in particular to a magneto-rheological intelligent skin. Background technique [0002] We know that the robot's hand is used to grab different objects. Therefore, the skin of the robot's hand should have adjustable friction to suit its requirements for grabbing different objects. However, the existing robot skin usually uses a variety of materials and multi-layer structure, such as: Chinese patent application number: 201010609734.1 "a kind of robot skin", although this type of robot skin is more effective for the body part of the robot, if it is used for the hand of the robot Its frictional force cannot be adjusted and it is difficult to adapt to the requirements of grasping different objects. Contents of the invention [0003] In order to overcome the deficiency that the existing robot skin is used for the hand of the robot, the present invention proposes a magneto-rheological smart skin. [0004] The techni...

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Problems solved by technology

[0002] We know that the robot's hand is used to grab different objects. Therefore, the skin of the robot's hand should have adjustable friction to suit its requirements for grabbing different objects. However, the existing robot skin usually uses a variety of materials and multi-layer structure, such as: Chinese patent application number: 201010609734.1 "a kind of robot skin", although this type of robot skin is more effective for the body part of the robot, if it is used for the hand of the robot Its friction cannot be adjusted and it is difficult to adapt to the requirements of grasping different objects

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