Soft robot that can balance contact force autonomously
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A robot and contact force technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unbalanced contact force and damage to the operated object
Active Publication Date: 2019-08-09
北京科迈启元科技有限公司
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However, when the soft manipulator manipulates the contact object, the contact force is unbalanced
[0003] Up to now, there is no soft robot for operation that has the function of balancing contact force, does not cause serious damage to the operated object when the system fails, and has a simple adjustment method
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[0015] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0016] The present invention is a soft robot capable of autonomously balancing contact force, comprising a first force sensor 1, a first soft finger cavity 2, a second force sensor 3, a second soft finger cavity 4, a first fixing ring 5, a second fixing ring Ring 6, the third soft finger cavity 7, the third force sensor 8, the first flexible air tube 9, the second flexible air tube 10, the third flexible air tube 11, the first wire 12, the control system 13, the fourth force sensor 14, The fifth force sensor 15, the fourth soft finger cavity 16, the third fixed ring 17, the fourth fixed ring 18, the fifth soft finger cavity 19, the fifth fixed ring 20, the sixth force sensor 21, the soft palm cavity 22. The fourth soft air tube 23, the fifth soft air tube 24, the sixth soft air tube 25, the air pump 26, the second lead wire 27, the first soft robot fi...
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Abstract
The invention discloses a soft-body robot capable of autonomously balancing contact force, comprising a force sensor 1, a soft finger cavity 2, a force sensor 3, a soft finger cavity 4, a fixing ring5, a fixing ring 6, a soft finger cavity 7, a force sensor 8, a soft air tube 9, a soft air tube 10, a soft air tube 11, a wire 12, a control system 13, a force sensor 14, a force sensor 15, a soft finger cavity 16, a fixing ring 17, a fixing ring 18, a soft finger cavity 19, a fixing ring 20, a force sensor 21, a soft palm cavity 22, a soft air tube 23, a soft air tube 24, a soft air tube 25, anair pump 26, a wire 27, a soft robot finger 28, a soft robot finger 29, a soft robot finger 30, a hand module 31, a soft robot finger 32, and a soft robot finger 33. The soft-body robot herein can automatically balance and adjust contact force for an operation object.
Description
technical field [0001] The invention relates to a soft robot capable of autonomously balancing contact force, belonging to the field of soft robots, in particular to the structural design of a soft manipulator. Background technique [0002] When the human hand grasps the object directly, it is easy to damage the object due to the unbalanced force of the five fingers, such as tofu and cakes and other objects. At the same time, when the traditional rigid manipulator clamps the object, the method of controlling and adjusting the contact force of each finger is relatively complicated. Moreover, this rigid structure will seriously damage the operated object when the system fails. In addition, although the software operator generally does not cause serious damage to the operated object when the system fails. However, when the soft manipulator manipulates the contact object, the contact force is unbalanced. [0003] Up to now, there is no soft robot for operation that has the fu...
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