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Electrostatic adsorption type soft gripper simulating fin structure

An electrostatic adsorption and software technology, applied in the field of manipulators, can solve problems such as falling off and weight limitations of grasped objects

Active Publication Date: 2018-02-09
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the soft gripper is a flexible material after all, and the grip on the object is not as firm as the rigid gripper, and it is easy to fall off.
And due to the limitations of the soft gripper itself, the weight of the grasped object is also limited

Method used

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  • Electrostatic adsorption type soft gripper simulating fin structure
  • Electrostatic adsorption type soft gripper simulating fin structure
  • Electrostatic adsorption type soft gripper simulating fin structure

Examples

Experimental program
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Embodiment Construction

[0026] figure 1 It is a structural schematic diagram of the present invention, figure 2 It is a schematic diagram of the open state of the software gripper of the present invention, image 3 It is a schematic diagram of the closed state of the soft gripper of the present invention, Figure 4 It is a structural schematic diagram of a grasping state of the present invention, Figure 5 It is a structural schematic diagram of another grasping state of the present invention, Image 6 It is a structural schematic diagram of the mounting base of the present invention, Figure 7 It is a structural schematic diagram of the drive disk of the present invention, Figure 8 It is a schematic diagram of the side structure of the fin-ray finger of the present invention, Figure 9 It is a schematic diagram of the fin-type finger electrode structure of the present invention, as shown in the figure: a kind of electrostatic adsorption soft gripper imitating fish fin structure in this embodi...

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Abstract

The invention discloses an electrostatic adsorption type soft gripper simulating a fin structure. The soft gripper comprises a soft gripper body and an electrostatic adsorption electrode; the electrostatic adsorption electrode is a flexible electrode and is fixed on the gripping surface of the soft gripper body in an attached manner; the soft gripper body is a fin ray type gripper; self-adaptive coating type close fitting with an object can be realized with the structure, and the electrostatic adsorption force can be produced between the soft gripper and the surface of the adsorbed object through application of voltage to the electrostatic adsorption electrode. The soft gripper is combined with the electrostatic adsorption technology, the object can be adsorbed by the aid of the electrostatic adsorption force and can also be gripped by the aid of the clamping force produced through close fitting of the soft gripper with the surface of the object, the object is gripped by the aid of theclamping force and the electrostatic adsorption force simultaneously, and adaptive gripping of objects in different shapes and sizes is realized.

Description

Technical field [0001] The invention relates to the field of manipulators, and in particular to an electrostatic adsorption soft gripper imitating a shark fin structure. Background technique [0002] In recent years, soft hands designed and manufactured using soft materials have attracted widespread attention from domestic and foreign scholars and institutions, and have been subject to continuous research. This provides an essential solution to the problem of poor interaction between rigid manipulators and people and the environment, poor adaptability to complex environments, and Problems such as inflexibility provide new ideas and directions. The soft hand fully utilizes and exerts the natural flexibility of various flexible materials, including rubber, polymers, smart materials, multi-functional materials, etc., as well as their nonlinear, viscoelastic and hysteretic characteristics, which have potential "mechanical" properties in the movement and control of the soft hand....

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/10
CPCB25J15/0038B25J15/0085B25J15/10
Inventor 陈锐宋瑞洲陈来柏龙江沛
Owner CHONGQING UNIV
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