Pneumatic control soft body bionic manipulator

Abstract

The invention discloses a pneumatic control soft body bionic manipulator. The pneumatic control soft body bionic manipulator comprises an inflation port, an air storage chamber, fingers and a substrate. A central air cavity and a central channel are arranged inside the air storage chamber; a plurality of groups of left air chambers and right air chambers distributed in a herringbone shape are arranged on the surfaces of the fingers, left air chambers, left channels, right air chambers, right channels and bypass channels are arranged inside the fingers, all the left air chambers communicate through the left channels, all the right air chambers communicates through the right channels, and all the left air chambers and the right air chambers communicate through the bypass channels. The inflation port sequentially communicates with the air storage chamber and the fingers; and the substrate is arranged at the bottoms of the air storage chamber and the fingers. When external gas communicateswith the manipulator, all the air chambers are inflated by the air pressure, so that all the air chambers simultaneously generate circumferential and axial tension, and finally the substrate is subjected to circumferential and axial elastic bending deformation. The manipulator can generate elastic deformation with infinite freedom degrees in the circumferential direction and the axial direction,can accurately grab objects with different shapes by controlling the size of the gas, and is high in grabbing force and high in stability.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a soft bionic manipulator driven and controlled by compressed gas. Background technique [0002] With the continuous expansion of robot application requirements and fields, emerging fields such as rehabilitation medicine, complex terrain exploration, and intelligent manufacturing have put forward higher requirements for the flexibility of robots. Meet the needs of the above fields. Thanks to the rapid development of smart materials and bionic technologies, researchers have developed a series of soft robots by imitating biological structures and their motion behaviors by using flexible materials, realizing the rolling, twisting, crawling and other actions of soft machines in a confined space. . Due to the soft material, strong environmental adaptability, and safe human-computer interaction, soft robots overcome the essential defects of rigid robots with limited movement in c...

AI Technical Summary

Problems solved by technology

[0004] ①The manipulator is made of flexible materials, and the flexible material is easily deformed when subjected to external force, making it difficult to achieve precise positioning and control of the manipulator;

[0005] ②The elastic stress of the flexible material is low, it is difficult for the manipulator to generate a large clamping force, and the clamping stability is poor;

[0006] ③There are many types of flexible materials, and the manipulators of different materials have different mechanical characteristics, it is difficult to accurately model and analyze the motion of soft manipulators theoretically, so there is a lack of effective theories in the design of soft manipulators Base

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