Hand-simulated pneumatic soft dexterous hand

Abstract

The invention discloses a hand-simulated pneumatic soft dexterous hand, and belongs to the technical field of soft robots. Multiple fingers at least comprise the thumb, the index finger, the middle finger and the ring finger, the root of the thumb is connected with a finger installation frame through a thumb base joint, the roots of the other fingers except the thumb are connected with the finger installation frame, and the finger installation frame is arranged on a wrist flange. Each finger is provided with a plurality of air chambers and a plurality of joint inflation flow channels, and the air outlet ends of the plurality of joint inflation flow channels communicate with the plurality of air chambers in a one-to-one correspondence mode. According to the hand-simulated pneumatic soft dexterous hand, the working space of the soft hand is increased, under the condition of the same-level movement speed and load, the needed gas consumption is lower, the reverse acting force and acting speed of the fingers are increased, lateral invalid expansion of the air chambers is limited, the gas consumption of the air chambers is reduced, the bidirectional movement speed of the air chambers is increased, air circuits are compactly arranged, the integration is improved, and the functions of the hand-simulated pneumatic soft dexterous hand are close to human finger functions as much as possible.

Description

technical field [0001] The invention relates to a pneumatic soft dexterous hand imitating a human hand, which belongs to the technical field of soft robots. Background technique [0002] Soft robots have developed rapidly in recent years, and various types of soft robots and related technologies have emerged in an endless stream, becoming a promising research direction in the field of robotics. [0003] Soft robots are mainly made of flexible materials, and are often driven by pneumatic / hydraulic, tendon cables, shape memory alloys, electro-actuated polymers, etc., and can use their flexible structures in complex working environments full of obstacles And unlimited degrees of freedom to complete work tasks, with strong environmental adaptability and flexibility of movement, it has broad application prospects in detection, medical, military, industrial and other fields. [0004] The main application forms of common soft robots include crawling robots, soft robotic arms, soft...

AI Technical Summary

Problems solved by technology

Common soft hands, due to poor design integration, in order to ensure a simple appearance and excellent sealing, only one finger can be selected to be composed of a soft air cavity. The deformation of each section of the finger is not independent, resulting in a small working space for a single finger. This results in a smaller working space for the soft hand

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