Soft manipulator embedded with rubber hoses

Abstract

The invention discloses a soft manipulator embedded with rubber hoses. The soft manipulator comprises three soft tentacles of the same specification, and a rigid fixing frame for mounting the soft tentacles. The corresponding high-elasticity rubber pipe is embedded in each tentacle, and traditional complex manipulator manufacturing processes are omitted; during layering glue injection, inextensible fibers are doped in a silica gel layer of one side of each tentacle, and thus the tentacles can bend to one side more easily during bending; the surface of the other side of each tentacle is grooved, and the surface stiffness of the tentacles is lowered, so that driving force required by the soft manipulator at a certain bending degree is lower; and a cylindrical boss is formed at the tail end of each tentacle during bending so as to increase the wrapping capacity for different objects, and objects in different shapes can be better grabbed. Through reasonable layout of the rubber hoses and the optimal design of the structure of the manipulator, grabbing of the objects in different shapes is achieved by controlling pressure, grabbing operation on the various objects is achieved without replacing the manipulator, and the manipulator is applicable to complex production line.

Description

technical field [0001] The invention belongs to the field of soft robots, and in particular relates to a soft manipulator embedded in a rubber hose. Background technique [0002] At present, in traditional industries, most of the objects are grasped by the manipulator made of rigid materials, which has a certain grasping efficiency and accuracy for a single variety and a specific shape of objects. However, it does not perform well when faced with objects that need to handle multiple complex shapes. The current manipulator is based on the mechanical structure to realize the bending of the finger joints. The fingers of the manipulator are formed by connecting multiple joints in series. The mechanical structure is driven by micro motors, push cylinders, and wire rope traction to achieve the contraction movement of the fingers and achieve the purpose of precise control. It is relatively complicated, the control process is cumbersome, and the economy is poor for applications tha...

AI Technical Summary

Problems solved by technology

The rigid and low-degree-of-freedom end-effectors used in traditional robot manipulators usually have large inertia and high cost, limited types of actions that can be performed, low safety factor, poor environmental adaptability, low reliability, low transmission efficiency, and high noise , often encounter difficulties in unstructured and highly crowded environments, and can no longer meet the requirements of certain limited space and structure, complex and changeable environment, and diversified structure of operating objects

Images