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Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger

A technology with flexible fingers and degrees of freedom, applied in the field of intelligent robots, can solve problems such as poor target adaptability, low safety, and insufficient grasping force, achieve a wide range of degrees of freedom and bending conditions, increase work space, and work space Effect

Pending Publication Date: 2017-05-24
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Nevertheless, the pneumatic dexterous hand still has certain problems, its grasping strength is not enough, and the adaptability to the target is not strong when grasping, and the safety is low

Method used

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  • Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0021] A pneumatic self-sensing redundant multi-degree-of-freedom flexible dexterous finger of the present invention, such as figure 1 - As shown in -4, it includes a cylindrical flexible finger base 1 and a truncated conical flexible connecting base 2 that is as circular as the cylindrical flexible finger base 1. The structure of the flexible connecting base 2 of the flexible finger base 1 is made of flexible silicon rubber or Other high-elastic materials that meet the performance requirements; the flexible finger base 1 forms four aerodynamic cavities 3 that are evenly distributed along the circumference in the axial direction through integral molding technology, and the aerodynamic cavities 3 are cylindrical. One end of the connecting base 2 is open, and the other end is closed; a curved inner core 4 is installed on the axis of the flexible finger base 1, and the ...

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Abstract

A pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger comprises a cylindrical flexible finger base body and a circular-truncated-cone-shaped flexible connecting base body. The flexible finger base body is provided with four pneumatic cavities distributed circumferentially and evenly in the axial direction. A bent inner core is arranged at the axis of the flexible finger base body, and tube connectors are arranged at the end of the flexible finger base body. Four micro sensitive channels distributed circumferentially and evenly are formed in the peripheries of the pneumatic cavities. Each micro sensitive channel comprises an arc sensitive channel body and a linear sensitive channel body and is filled with gallium-indium-tin liquid alloy or a liquid sensitive piezoresistive element. Four rubber tube connectors are arranged at the finger root of the flexible nimble finger and correspond to the pneumatic cavities. The pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger has the advantages of being simple in structure, low in weight, clean, safe, large in working space, high in control precision and the like, the effect that the multi-degree-of-freedom flexible mechanical finger has high precision during operation can be ensured, and the finger can be widely applied to the multiple fields such as industrial and agricultural production, national defense security and medical rehabilitation.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and more specifically, the invention relates to a pneumatic self-sensing redundant multi-degree-of-freedom flexible dexterous finger. Background technique [0002] As the core component of the robot's terminal manipulation, the robot hand has been widely studied since the development of robotics in a broad sense. According to the material characteristics of the manipulator, it can be divided into the following categories: rigid manipulators that have been widely used in industrial handling, humanoid rigid-flexible mixed manipulators and purely flexible dexterous hands. The advantage of the traditional rigid manipulator is its rigid structure and its mature basic kinematics and dynamics theoretical mathematical model. The rigid structure can carry a large force, and the mature theoretical basis is convenient for controlling its motion. The rigid-flexible hybrid manipulator is a manipulator with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/16
CPCB25J9/1643B25J15/0023
Inventor 姚建涛张弘勾栓栓向喜梅许允斗赵永生
Owner YANSHAN UNIV
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