Soft body grabbing device and method based on artificial muscle driving

Abstract

The invention provides a soft body grabbing device and method based on artificial muscle drive. The soft body grabbing device comprises an arm, a palm and a plurality of soft body fingers, wherein thepalm is arranged on the arm, the soft body fingers are uniformly distributed or oppositely arranged on the palm, each soft finger comprises an end cover, a finger body, a bending sensor and artificial muscles, each finger body is connected to the palm through the corresponding end cover, a first slot, a second slot and a third slot which are parallel in the axis direction of each finger body areformed in each finger body, the artificial muscles are arranged in each first slot and located on the grabbing front face of the corresponding finger body, each bending sensor is arranged in the corresponding second slot and located on the grabbing back face of the corresponding finger body, a connecting wire is arranged in each third slot and located in the middle of the corresponding finger body, and each first slot, the corresponding second slot and the corresponding third slot communicate with one another. The soft body grabbing device has the advantages of being compact in structure and high in grabbing capacity.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a software grabbing device and a software grabbing method driven by artificial muscles. Background technique [0002] In recent years, with the rise of the wave of intelligent manufacturing, the application of grasping robots in the fields of medical care, housekeeping services, space exploration, industrial automation and production has received more and more attention. In the grasping robot system, Due to its high structural rigidity, the rigid gripper has potential risks in the process of human-computer interaction or object grasping, while the soft gripper has high flexibility and adaptability to the surface of the object, and can achieve more flexible deformation, even There is no danger in collision, and it has wide application prospects in many occasions. [0003] There are two common driving methods for soft grasping hands: pneumatic and artificial mu...

AI Technical Summary

Problems solved by technology

[0005] Chinese patent 201710346369.1 adopts the method of soft adsorption, which drives the fingers to bend by air pressure, and at the same time grasps the object through the adsorption force of the suction cup on the soft arm. This structure requires high quality on the surface of the grasped object. If the surface is uneven then the crawling performance will be greatly reduced.

[0006] Chinese patent 201821781114.4 discloses an industrial soft grasping robot. By inflating the spherical structure, the internal particles can squeeze the grasped object to achieve grasping. This method can only grasp small objects, and the volume is larger than the spherical structure. Objects are helpless;

[0007] Chinese patent 201720365517.X discloses a gas-driven flexible polymer soft manipulator, which uses an external air pump to inflate the air cavity in the hand of the soft grasping hand, so that the fingers can be bent to achieve grasping. This method is limited by the huge volume of the air pump and cannot achieve overall Structure miniaturization

[0008] Chinese patent 201920352563.5 discloses a thermal expansion fluid composite special-shaped cavity-driven robot soft hand, which uses a combination of thermal expansion fluid composite heterogeneous cavity and shape memory alloy to drive the fingers to achieve grasping. This method is costly and complicated to manufacture.

[0010] Most of the existing software grabbing hand drive methods use pneumatic form, which can achieve a large deformation of the finger, but because it relies on an external air pump and a complex solenoid valve circuit to achieve control, the overall structure is complex and bulky, and it is difficult to achieve miniaturization Lightweight; driving with shape memory alloy wire can provide a large output force, but the cost is high and it is not suitable for large-scale applications

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