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An electrostatic adsorption soft gripper imitating fish 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: 2020-11-03
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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  • An electrostatic adsorption soft gripper imitating fish fin structure
  • An electrostatic adsorption soft gripper imitating fish fin structure
  • An electrostatic adsorption soft gripper imitating fish 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, Figure 6 It is a structural schematic diagram of the mounting seat 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 embod...

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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, in particular to an electrostatic adsorption type soft gripper with a fin-like structure. Background technique [0002] In recent years, soft hands designed and manufactured using soft materials have attracted widespread attention from scholars and institutions at home and abroad, and have received continuous research. Inflexibility and other issues provide a new way of thinking and direction. Soft hands make full use of the natural compliance of various flexible materials, including rubber, polymers, smart materials, and multifunctional materials, as well as their potential "mechanical properties" in soft hand motion and control, such as nonlinear, viscoelastic, and hysteretic characteristics. Intelligent" function, thereby reducing the complexity of control, achieving high flexibility and good interactivity. At present, most of the soft grippers still rely on the gripping force of the gripper to p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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