A Soft Electrostatic Adhesive Coated Bionic Octopus Manipulator

Abstract

The invention relates to a soft electrostatic adhesion-coated bionic octopus manipulator, which includes a connection seat, a main chamber and claw fingers. Inflatable holes; the main chamber is hollow and drum-shaped, and its upper end is open, and is connected with the lower end of the connecting seat; the periphery of the main chamber is provided with a plurality of connecting holes connecting inside and outside; the claw fingers There are multiple, all of which are pneumatic network type; the claw finger is hollow, its front end is wedge-shaped, and its rear end communicates with the connection hole; the inflation hole is connected to the connection hole through a trachea; it also includes A flexible coating; the coating is disc-shaped, and the center of its top surface is connected to the bottom of the main chamber; multiple electrodes are arranged in the coating. The invention effectively increases the clamping force, and can evenly share the clamping force on the target object, reducing the risk of damage; meanwhile, it also has a variety of grasping modes, increases the clamping range, and can fully meet the use requirements.

Description

technical field [0001] The invention relates to a mechanical structure, in particular to a manipulator, in particular to a soft electrostatic adhesion coated bionic octopus manipulator. Background technique [0002] With the development of science and technology, electrostatic adhesion technology has been widely used in manipulators. At present, most of these manipulators directly use thin flexible electrode sheets as fingers. However, there are obvious shortcomings of this type of manipulator: the clamping force provided by electrostatic adhesion alone is not large enough, especially when acting on target objects with different dielectric constants and different surface properties, the electrostatic adhesion effect produced is quite different , making the clamping performance not stable enough. In addition, due to the problem of residual charge, an external force is often needed to overcome the residual electroadhesive force and quickly detach, resulting in waste of resou...

AI Technical Summary

Problems solved by technology

However, there are obvious shortcomings of this type of manipulator: the clamping force provided by electrostatic adhesion alone is not large enough, especially when acting on target objects with different dielectric constants and different surface properties, the electrostatic adhesion effect produced is quite different , making the clamping performance not stable enough

In addition, due to the problem of residual charge, external force is often needed to overcome the residual electroadhesive force and quickly detach, resulting in waste of resources

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