Humanoid pneumatic soft robot finger

Abstract

The invention discloses a humanoid pneumatic soft robot finger. The humanoid pneumatic soft robot finger comprises a front-section flexible unit, a pneumatic actuator unit, a middle-section flexible phalanx unit, a pneumatic actuator unit and a rear-section flexible phalanx unit which are sequentially connected, wherein the pneumatic actuator units are of a comb-tooth-shaped structure as a whole and comprise a base and a plurality of comb teeth arranged on the base side by side in the length direction of the finger; a main cavity is formed in the base, and a sub-cavity communicating with the main cavity is formed in each comb tooth; and air channels penetrating in the length direction of the finger are formed in the middle-section flexible phalanx unit and the rear-section flexible phalanxunit, and the air channels communicate with the main cavity of the pneumatic actuator units through holes formed in the side faces of the pneumatic actuator units. The humanoid pneumatic soft robot finger has the advantages of being simple in manufacturing process, low in cost, large in bending amplitude, controllable in output and the like, and a feasible scheme is provided for a robot to achieve humanoid hand type grabbing.

Description

technical field [0001] The invention belongs to the field of soft robots, and is mainly used in the design of bionic manipulators, in particular to a pneumatic soft manipulator finger with a human finger structure. Background technique [0002] When traditional rigid robots interact with the natural environment, due to their poor flexibility and limited adaptability to the environment, their application range is also greatly limited. In recent years, soft material robots have gradually become a research hotspot. Compared with rigid robots, soft robots have higher environmental adaptability, sensitivity and flexibility, and can absorb energy generated by contact. In addition, they can safely interact with humans and can simulate the continuous motion of biological systems. These advantages also make soft robots attract much attention in the fields of biomedicine, industry, and architecture. [0003] With the rapid development of computer technology and artificial intelligen...

AI Technical Summary

Problems solved by technology

Considering the structural design, material selection, preparation and subsequent control system design of the soft manipulator, most of the soft manipulators still have the following problems: ① The output force and response time of the soft manipulator cannot be balanced

Soft robots with short response time often have the defect of insufficient output force, while actuators with large output force mostly have slow response time

②In order to simplify the production process, most of the software manipulators currently adopt an integrated design, so once the manipulator is partially damaged during use, it will affect the overall use

Therefore, the friendliness and security of most software prosthetic hands in the process of human-computer interaction are relatively poor.

④ Some soft manipulators driven by electrothermal or shape memory alloy have large energy loss and poor controllability during work

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