A soft manipulator embedded in a rubber hose

Abstract

The invention discloses a soft manipulator embedded in a rubber hose, which comprises three soft tentacles of the same specification and a rigid fixing frame for installing the soft tentacles. Each tentacle is embedded with a high-elastic latex tube, which saves the complicated manufacturing process of traditional manipulators; when performing layered glue injection, the silicone layer on the side of the tentacle is doped with non-stretchable fibers, making it easier to bend toward the tentacles. One-sided bending; the surface of the other side of the tentacle is grooved to reduce its surface stiffness, so that the soft hand needs less driving force when it meets a certain degree of bending; when the end of each tentacle bends, a cylindrical convex post is formed to further improve the surface stiffness. Increase the ability to cover different objects, and can better grasp objects of different shapes. The invention utilizes the rational layout of the rubber hose and the optimized design of the manipulator's own structure, and realizes the grasping of objects of different shapes by controlling the pressure, and realizes the grasping operation of various items without changing the manipulator, and is suitable for 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

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