CN114905540B - A variable stiffness soft manipulator with multiple grasping modes - Google Patents
A variable stiffness soft manipulator with multiple grasping modes Download PDFInfo
- Publication number
- CN114905540B CN114905540B CN202210703050.0A CN202210703050A CN114905540B CN 114905540 B CN114905540 B CN 114905540B CN 202210703050 A CN202210703050 A CN 202210703050A CN 114905540 B CN114905540 B CN 114905540B
- Authority
- CN
- China
- Prior art keywords
- finger
- soft
- variable
- driving
- variable stiffness
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种具有多抓取模式的变刚度软体机械手，解决了现有的变刚度软体机械手结构复杂、制备工艺繁琐、刚度调节及变形存在干扰以及抓取模式单一的缺点。在基座的前后两侧交替布置由3根尺寸相同的变刚度软体手指，基座的左侧布置有对变刚度软体手指近端关节进行刚度调节的弹簧驱动机构，右侧布置有对变刚度软体手指远端关节进行刚度调节的弹簧驱动机构及对手指本体进行驱动的驱动机构。弹簧驱动机构中的舵机输出端及驱动电机的输出端都安装有驱动轴，弹簧驱动机构的驱动线缆一端与驱动轴相连，另一端连接于弹簧上。手指本体的驱动线缆通过U型布置方式穿过手指内预留型腔，最后固定于驱动电机的驱动轴上，对手指本体进行驱动。
The invention discloses a variable stiffness soft manipulator with multiple grasping modes, which solves the shortcomings of the existing variable stiffness soft manipulator, such as complex structure, cumbersome preparation process, interference in stiffness adjustment and deformation, and single grasping mode. Three variable stiffness soft fingers of the same size are alternately arranged on the front and rear sides of the base, a spring driving mechanism for adjusting the stiffness of the proximal joints of the variable stiffness soft fingers is arranged on the left side of the base, and a spring driving mechanism for adjusting the stiffness of the distal joints of the variable stiffness soft fingers and a driving mechanism for driving the finger body are arranged on the right side. The output end of the servo in the spring driving mechanism and the output end of the driving motor are both equipped with a driving shaft, and one end of the driving cable of the spring driving mechanism is connected to the driving shaft, and the other end is connected to the spring. The driving cable of the finger body passes through the reserved cavity in the finger in a U-shaped arrangement, and is finally fixed on the driving shaft of the driving motor to drive the finger body.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a variable-rigidity soft manipulator with multiple grabbing modes.
Background
At present, the robot technology has a wide application range in daily production and life, wherein a manipulator is used as an end effector for interacting a robot with the external environment, and the development of related researches has important significance for automated production industry. The soft manipulator can adapt to different working environments, can keep flexible movement, and effectively avoids the defect of poor environmental adaptability of the rigid manipulator. The soft manipulator has the advantages of good ductility and flexibility due to the advantages of the soft manipulator manufacturing material, and can well protect personal safety of operators during operation in a narrow space. However, the soft manipulator has the characteristics of softness and easy deformation, so that the soft manipulator has the defects of poor rigidity performance, low load capacity, simple grabbing mode, insufficient control stability and the like. Therefore, the variable-rigidity soft manipulator with multiple grabbing modes is developed, the rigidity adjustable performance, the bearing capacity and the grabbing mode adjustable performance are considered, and the overall performance and the application range of the soft manipulator can be increased. Most of the existing soft manipulators adopt a single-joint structure, the grabbing mode is single, and the adaptability is poor. The rigidity-changing function is realized by adopting an additional rigidity-changing mechanism, such as a filling regulation mode, rigidity adjustment is performed by adopting a friction-increasing mode, and the rigidity is changed by heating an intelligent material serving as the rigidity-adjusting mechanism. The rigidity-changing method has high control requirement and low power density, and comprises a rigid member, so that the flexibility of the soft manipulator is affected.
In summary, the existing variable-rigidity soft manipulator has the defects of single grabbing mode, high preparation process requirement, poor structure compactness and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a variable-rigidity soft manipulator with multiple grabbing modes, which has the advantages of abundant grabbing modes, easy manufacture and compact structure.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
The variable-rigidity soft manipulator with the multiple grabbing modes comprises variable-rigidity soft fingers and a base, wherein 3 variable-rigidity soft fingers are alternately arranged on the front side and the rear side of the base, the proximal root of each variable-rigidity soft finger is directly connected with the base, each variable-rigidity soft finger comprises 3 sections of flexible knuckles and two joints, the working face of each variable-rigidity soft finger faces the left and right inward bending direction of the finger, and the back face of each variable-rigidity soft finger faces the opposite direction of the left and right inward bending of the finger;
The device comprises a base, a plurality of flexible fingers, a variable stiffness control system, a proximal joint spring driving mechanism, a distal joint spring driving mechanism, a finger body driving mechanism, a distal joint spring driving mechanism, a control system and a control system, wherein the back of each flexible finger with variable stiffness, which is close to the flexible finger with variable stiffness, is provided with the proximal joint spring driving mechanism and the distal joint spring driving mechanism to form the variable stiffness control system;
the finger body driving mechanism is further arranged on the working face, close to the variable-stiffness soft finger, of each variable-stiffness soft finger and comprises a third driving cable, the third driving cables are arranged in a U-shaped mode, the tail ends of the third driving cables are connected to a third driving shaft of a driving motor after passing through flexible knuckles of the finger body, the bending angle control of a near-end joint and a far-end joint of the finger is realized through the driving motor, the grasping or loosening action of the variable-stiffness soft finger is realized, and the multi-grasping mode operation is carried out on a target object through the coordination operation of the variable-stiffness control system and the finger body driving mechanism. The driving cable of the finger body passes through the reserved cavity in the finger in a U-shaped arrangement mode and is finally fixed on the driving shaft of the driving motor to drive the finger body.
Furthermore, the variable-stiffness soft finger comprises 3 sections of flexible knuckles, a rigid framework, a proximal joint spring, a distal joint spring and a driving cable, wherein a spring sliding groove is arranged in the rigid framework, so that the length of the spring can be conveniently adjusted.
Further, the 3-section flexible knuckle is made of a rubber-like material Agilus and the rigid skeleton material is VeroPure White.
Furthermore, a Polyjet3D printing method is adopted to simultaneously carry out deposition printing production on the two materials.
The proximal joint spring driving mechanism comprises a proximal joint spring, a first driving cable, a first driving shaft and a first steering engine, the distal joint spring driving mechanism comprises a distal joint spring, a second driving cable, a second driving shaft and a second steering engine, the two groups of driving mechanisms are completely identical in composition and working mode, the springs are arranged in spring sliding grooves of the rigid framework, one end of each driving cable is connected with the tail end of each spring, and the other end of each driving cable is connected to the driving shaft of the corresponding steering engine.
Further, the finger body driving mechanism comprises a third driving cable, a driving motor and a third driving shaft, wherein the third driving cable penetrates through the finger knuckle in a U-shaped arrangement mode, the tail end of the third driving cable is wound on the third driving shaft, the third driving shaft is arranged at the output end of the driving motor, and the fixing part of the driving motor is arranged on the base.
Further, when the device is used, the steering engine of the spring driving mechanism and the finger body driving motor are connected with an external power supply, the length of the spring at the finger joint is adjusted by controlling the rotation of the first steering engine and the second steering engine, and the driving cable is driven to shrink by controlling the rotation of the driving motor, so that the rigidity-variable soft finger is bent to achieve corresponding grabbing action. When the finger joint is bent to gradually approach to the target angle, the extension length of the spring and the contraction length of the driving cable are further adjusted, so that the rigidity-variable soft finger reaches a preset bending angle and rigidity, and the rigidity-variable function of the soft manipulator is realized.
Further, by controlling the first steering engine and the second steering engine to rotate at different angles, springs at the near-end joint and the far-end joint of the finger have different stretching amounts, and then the driving cable is driven to shrink by the rotation of the driving motor, so that the rigidity-variable soft finger bends to realize corresponding grabbing actions, the two finger joints have different bending angles, objects with different grabbing requirements are grabbed, and grabbing mode adjustment of the rigidity-variable soft manipulator is realized.
Compared with the prior art, the invention has the following obvious prominent substantive features and obvious advantages:
1. The invention overcomes the defects of the prior art, and the spring driving mechanism stretches the rigidity-variable soft finger before bending the rigidity-variable soft finger, so that the pretightening force is applied to the joint to form constraint limit; then the soft finger is driven by a driving motor, the finger joint is bent to a certain angle under the influence of the pretightening force to stop moving, and then the pretightening force borne by the finger joint is further increased by further adjusting the pretightening length of the spring, so that the variable-rigidity soft finger can obtain different rigidities under any bending angle, the variable-rigidity function is realized, and the bearing performance of the soft manipulator is improved;
2. the invention stretches the finger near-end joint and the far-end joint spring with different lengths through the spring driving mechanism, thereby applying different pretightening forces at the near-end joint and the far-end joint to form different constraint limits on the joints;
3. According to the invention, 3 rigidity-variable soft fingers with the same size are alternately arranged on the front side and the rear side of the base, the proximal joint spring driving cables of the 3 fingers are connected to the driving shaft of the steering engine 1 on the left side of the base, and the distal joint spring driving cables are connected to the driving shaft of the steering engine 2 on the right side of the base. The finger body driving cable is connected to the driving shaft of the driving motor;
4. the spring driving mechanism and the finger body driving mechanism both adopt an underactuated mode, ensure the consistency of the movement of each joint of the finger, have simple structure, convenient operation and low cost, and are suitable for popularization and use.
Drawings
FIG. 1 is a schematic three-dimensional perspective view of a variable stiffness soft manipulator with multiple gripping modes according to a preferred embodiment of the invention.
FIG. 2 is a schematic three-dimensional perspective view of a variable stiffness soft finger in a variable stiffness soft manipulator with multiple gripping modes according to a preferred embodiment of the invention.
FIG. 3 is a schematic diagram of the cable connection of the spring-driven mechanism and the finger body-driven mechanism of the variable-stiffness soft finger in the variable-stiffness soft manipulator with multiple grabbing modes according to the preferred embodiment of the invention.
FIG. 4 is a schematic diagram of a wrapping grabbing mode of a variable stiffness soft manipulator with multiple grabbing modes according to a preferred embodiment of the present invention.
FIG. 5 is a schematic diagram of a single knuckle gripping mode of a variable stiffness soft manipulator with multiple gripping modes in accordance with a preferred embodiment of the present invention.
FIG. 6 is a schematic diagram of a dual knuckle gripping mode of a variable stiffness soft manipulator with multiple gripping modes in accordance with a preferred embodiment of the present invention.
FIG. 7 is a schematic diagram of a variable stiffness soft manipulator knuckle pinching mode having multiple grabbing modes in accordance with a preferred embodiment of the present invention.
Detailed Description
The foregoing aspects are further described in conjunction with specific embodiments, and the following detailed description of preferred embodiments of the present invention is provided:
embodiment one:
in the embodiment, referring to fig. 1-3, the variable-rigidity soft manipulator with the multi-grabbing mode comprises variable-rigidity soft fingers 1 and a base 2, wherein 3 variable-rigidity soft fingers 1 are alternately arranged on the front side and the rear side of the base 2, the proximal root of each variable-rigidity soft finger 1 is directly connected with the base 2, each variable-rigidity soft finger 1 comprises 3 sections of flexible knuckles 6 and two joints, the working surface of the variable-rigidity soft finger 1 faces the left and right inward bending direction of the finger, and the back surface of the variable-rigidity soft finger 1 faces the opposite direction of the left and right inward bending of the finger;
The back of each variable stiffness soft finger 1 is also provided with a proximal joint spring driving mechanism 17 and a distal joint spring driving mechanism 16 which are close to the back of the variable stiffness soft finger 1 to form a variable stiffness control system, wherein the left side of the base 2 is provided with the proximal joint spring driving mechanism 17, the right side of the base 2 is provided with the distal joint spring driving mechanism 16 and a finger body driving mechanism 18, the proximal joint spring driving mechanism 17 comprises a finger proximal joint spring 10, a first driving cable 15 and a first steering engine 3, one end of the first driving cable 15 is connected with the tail end of the proximal joint spring 10, the other end of the first driving cable is connected with a first driving shaft 20 at the output end of the first steering engine 3, the distal joint spring driving mechanism 16 comprises a finger distal joint spring 9, a second driving cable 14 and a second steering engine 4, one end of the second driving cable 14 is connected with the tail end of the finger distal joint spring 9, and the other end of the second driving cable is connected with a second driving shaft 19 at the output end of the second steering engine 4;
A finger body driving mechanism 18 is further arranged on the working surface of each variable stiffness soft finger 1, which is close to the variable stiffness soft finger 1, the finger body driving mechanism 18 comprises a third driving cable 13, the third driving cable 13 passes through each section of flexible knuckle 6 of the finger body in a U-shaped arrangement mode, the tail end of the third driving cable 13 is connected to a third driving shaft 21 of a driving motor 5, the bending angle control of the proximal joint 12 and the distal joint 11 of the finger is realized through the driving motor 5,
The gripping or releasing action of the variable-rigidity soft finger 1 is realized, and the multi-gripping mode operation is carried out on the target object through the coordination work of the variable-rigidity control system and the finger body driving mechanism 18.
When the spring-driven finger grabbing device is used, the steering engine of the spring driving mechanism and the finger body driving motor are connected with an external power supply, the length of the spring at the finger joint is adjusted by controlling the rotation of the first steering engine and the second steering engine, and the driving cable is driven to shrink by controlling the rotation of the driving motor, so that the rigidity-variable soft finger is bent to achieve corresponding grabbing action. When the finger joint is bent to gradually approach to the target angle, the extension length of the spring and the contraction length of the driving cable are further adjusted, so that the rigidity-variable soft finger reaches a preset bending angle and rigidity, and the rigidity-variable function of the soft manipulator is realized.
The first steering engine and the second steering engine are controlled to rotate at different angles, so that springs at the near-end joint and the far-end joint of the finger have different stretching amounts, the driving cable is driven to shrink through the rotation of the driving motor, the rigidity-variable soft finger is bent to achieve corresponding grabbing actions, the two finger joints have different bending angles, objects with different grabbing requirements are grabbed, and grabbing mode adjustment of the rigidity-variable soft manipulator is achieved. The variable-rigidity soft manipulator with multiple grabbing modes has the advantages of being rich in grabbing modes, easy to manufacture and compact in structure.
Embodiment two:
This embodiment is substantially the same as the first embodiment, and is characterized in that:
the first embodiment is as follows:
Referring to fig. 1 to 3, a variable stiffness soft manipulator with multiple gripping modes is described, and includes a variable stiffness soft finger 1, a base 2, a proximal joint spring driving mechanism 17, a distal joint spring driving mechanism 16, and a finger body driving mechanism 18.
The three-dimensional variable stiffness finger device comprises a base 2, wherein 3 stiffness soft fingers 1 are alternately arranged on the front side and the rear side of the base 2, a proximal joint spring driving mechanism 17 is arranged on the left side of the base 2, a distal joint spring driving mechanism 16 and a finger body driving mechanism 18 are arranged on the right side of the base, one end of a first driving cable 15 is connected with the tail end of a proximal joint spring 10, the other end of the first driving cable is connected with a first driving shaft 20 of the output end of a first steering engine 3 in the proximal joint spring driving mechanism 17, one end of a second driving cable 14 is connected with the tail end of a distal joint spring 9, the other end of the second driving cable is connected with a second driving shaft 19 of the output end of a second steering engine 4 in the distal joint spring driving mechanism 16, and a third driving cable 13 of the 3 fingers is connected to a third driving shaft 21 of a driving motor 5 through the finger body in a U-shaped arrangement mode.
In this embodiment, in use, the spring is stretched at the finger joint by the spring drive mechanism, thereby exerting a preload at the proximal joint 12 and distal joint 11 to form a constraint. Then the variable-rigidity soft finger 1 is driven by the driving motor 5, the two joints of the finger are bent to a certain angle under the influence of the pretightening force and then stop moving, and then the pretightening force borne by the two joints of the finger is further increased by further adjusting the pre-stretching length of the springs at the joints, so that different rigidities of the variable-rigidity soft finger 1 under any bending angles are obtained, the variable-rigidity function of the variable-rigidity soft finger is realized, and the bearing performance of the soft manipulator is improved.
The second embodiment is as follows:
the present embodiment is further defined by performing a grabbing mode adjustment on the variable stiffness soft manipulator with multiple grabbing modes according to the first embodiment. The springs at the soft finger joints with variable rigidity are stretched in different lengths, namely different pretightening forces are applied, so that different joint rigidities are obtained, and further different joint bending angles are obtained after the driving motor operates, and the grabbing mode is adjusted.
In this embodiment, when in use, the spring driving mechanisms of the two joints are used for stretching the proximal joint spring 10 and the distal joint spring 9 in different lengths, so that different pretightening forces are applied to the proximal joint 12 and the distal joint 11, and different constraint limits are formed on the joints. When the driving motor 5 is used for driving the rigidity-variable soft finger 1 to bend, the finger proximal joint 12 and the finger distal joint 11 are limited by pretightening force and then present different bending angles, so that the function of adjusting the grabbing mode of the soft manipulator is realized, and finally objects with different shapes and sizes are stably grabbed.
And a third specific embodiment:
The description is made with reference to fig. 2 to 4. The present embodiment further defines a enveloping grabbing mode for the variable stiffness soft manipulator with multiple grabbing modes described in the second embodiment. The springs at the joints are stretched by the same length through the two spring driving mechanisms, so that pretightening force at the joints is the same, and the same bending angle is obtained to grasp an object in a enveloping way when the rigidity-variable soft finger is bent.
In this embodiment, when in use, the proximal joint spring 10 is stretched by the proximal joint spring driving mechanism 17, the distal joint spring 9 is stretched by the distal joint spring driving mechanism 16, and when the two joint springs are stretched to the same length, the driving motor 5 is used to drive the stiffness-variable soft finger 1, so that the same bending angle of the proximal joint 12 and the distal joint 11 of the finger is realized, and the object is grasped in an enveloping grasping mode.
The specific embodiment IV is as follows:
The description is given with reference to fig. 2 and 5. The present embodiment further defines a single knuckle grasping mode for the variable stiffness soft manipulator with multiple grasping modes described in the second embodiment. The proximal joint spring is stretched by the proximal joint spring driving mechanism to be in a high-rigidity state, and the distal joint spring is kept in an initial state, so that when the rigidity-variable soft finger is bent, the distal joint is bent to drive the distal knuckle to grasp an object.
In the present embodiment, when in use, the proximal joint spring 10 is first stretched by the proximal joint spring driving mechanism 17 to change the proximal joint 12 into a high-stiffness state, the distal joint spring 9 is not stretched, and the distal joint 11 is kept in a low-stiffness state. When the length of the spring is adjusted completely, the driving motor 5 drives the driving cable to shrink, so that when the rigidity-variable soft finger moves, the proximal joint is not bent, and the distal joint bends to drive the distal knuckle to grasp an object.
Fifth embodiment:
The description is given with reference to fig. 2 and 6. The present embodiment further defines a dual knuckle grasping mode for the variable stiffness soft manipulator with multiple grasping modes described in the second embodiment. The distal joint spring is stretched by the distal joint spring driving mechanism to be in a high-rigidity state, and the proximal joint spring is kept in an initial state, so that when the rigidity-variable soft finger is bent, the proximal joint bends to drive the distal knuckle and the middle knuckle to grasp an object.
In the present embodiment, when in use, the distal joint spring 9 is first stretched by the distal joint spring driving mechanism 16 to change the distal joint 11 into a high-stiffness state, the proximal joint spring 10 is not stretched, and the proximal joint 12 is kept in a low-stiffness state. When the length of the spring is adjusted completely, the driving motor 5 drives the driving cable to shrink, so that when the rigidity-variable soft finger moves, the distal joint 9 is not bent, and the proximal joint 10 bends to drive the distal knuckle and the middle knuckle to grasp an object.
Specific embodiment six:
The description is given with reference to fig. 2 and 7. The present embodiment is further limited to the pinching mode implemented by the variable stiffness soft manipulator with multiple grabbing modes described in the second embodiment. On the basis of the fifth embodiment, the driving cable is further contracted, so that the bending degree of the proximal joint is increased, and the pinching operation of the object is realized.
In the present embodiment, when in use, the distal joint spring 9 is first stretched by the distal joint spring driving mechanism 16 to change the distal joint 11 into a high-stiffness state, the proximal joint spring 10 is not stretched, and the proximal joint 12 is kept in a low-stiffness state. When the length of the spring is adjusted completely, the driving motor 5 drives the driving cable to shrink, so that when the rigidity-variable soft finger 1 moves, the distal joint 11 is not bent, and the proximal joint 12 bends to drive the distal knuckle and the middle knuckle to move. The contraction amount of the finger driving cable is further increased by adjusting the rotation number of the driving motor, so that the pinching operation of the distal knuckle on the object is realized.
Principle of operation
In use, the proximal joint spring 10 is stretched by the proximal joint spring driving mechanism 17, the distal joint spring 9 is stretched by the distal joint spring driving mechanism 16, and the movement of the two joints of the finger is limited by applying a pretightening force to the two joints of the finger, so that the rigidity adjustment is realized. And then the driving motor 5 drives the driving cable to drive the finger, so that the rigidity-variable soft finger 1 is bent and deformed to realize corresponding grabbing action. When the grabbing mode needs to be replaced, the lengths of the proximal joint spring and the distal joint spring can be respectively adjusted, different pretightening forces are applied to the finger joints, so that the finger joints have different rigidities, and the movement of the finger proximal joint 12 and the distal joint 11 at different bending angles can be realized when the finger joints are driven by the driving motor, so that the grabbing mode is adjusted.
In summary, the above embodiment has a variable stiffness soft manipulator with multiple grabbing modes, and designs the technical field of soft robots. The rigidity-variable soft manipulator aims to solve the defects that an existing rigidity-variable soft manipulator is complex in structure, complex in preparation process, interference in rigidity adjustment and deformation exists and single in grabbing mode. The front side and the back side of the base are alternately provided with 3 rigidity-variable soft fingers with the same size, the left side of the base is provided with a spring driving mechanism for adjusting the rigidity of the proximal joints of the rigidity-variable soft fingers, and the right side of the base is provided with a spring driving mechanism for adjusting the rigidity of the distal joints of the rigidity-variable soft fingers and a driving mechanism for driving the finger body. The steering engine output end and the driving motor output end in the spring driving mechanism are both provided with driving shafts, one end of a driving cable of the spring driving mechanism is connected with the driving shafts, and the other end of the driving cable of the spring driving mechanism is connected to the springs. The driving cable of the finger body passes through the reserved cavity in the finger in a U-shaped arrangement mode and is finally fixed on the driving shaft of the driving motor to drive the finger body.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the embodiments described above, and various changes, modifications, substitutions, combinations or simplifications made under the spirit and principles of the technical solution of the present invention can be made according to the purpose of the present invention, and all the changes, modifications, substitutions, combinations or simplifications should be equivalent to the substitution, so long as the purpose of the present invention is met, and all the changes are within the scope of the present invention without departing from the technical principles and the inventive concept of the present invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703050.0A CN114905540B (en) | 2022-06-21 | 2022-06-21 | A variable stiffness soft manipulator with multiple grasping modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703050.0A CN114905540B (en) | 2022-06-21 | 2022-06-21 | A variable stiffness soft manipulator with multiple grasping modes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114905540A CN114905540A (en) | 2022-08-16 |
| CN114905540B true CN114905540B (en) | 2025-04-15 |
Family
ID=82771732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210703050.0A Active CN114905540B (en) | 2022-06-21 | 2022-06-21 | A variable stiffness soft manipulator with multiple grasping modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114905540B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284318B (en) * | 2022-09-15 | 2024-06-28 | 东南大学 | Rigid-flexible variable manipulator based on reconfigurable joint and deformation method thereof |
| CN115674252B (en) * | 2022-11-08 | 2025-08-19 | 上海交通大学 | Multi-working-condition gripper based on pneumatic flexible pinching |
| CN116652999B (en) * | 2023-07-26 | 2023-11-24 | 中国科学院自动化研究所 | An underwater soft manipulator |
| DE102024116692A1 (en) * | 2024-06-13 | 2025-12-18 | Nanyang Technological University | Gripper device, robot arm with such a gripper device, and robot |
| DE102024116691A1 (en) * | 2024-06-13 | 2025-12-18 | Nanyang Technological University | Gripper device, robot arm with such a gripper device, and robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN111590615A (en) * | 2020-06-01 | 2020-08-28 | 江苏科技大学 | Flexible multi-degree-of-freedom manipulator |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| KR20120040438A (en) * | 2010-10-19 | 2012-04-27 | 동의대학교 산학협력단 | Finger system in artificial hand with multiple degree of freedom |
| CN204471391U (en) * | 2015-01-22 | 2015-07-15 | 西安蒜泥电子科技有限责任公司 | A kind of novel mechanical hand finger drive mechanism |
-
2022
- 2022-06-21 CN CN202210703050.0A patent/CN114905540B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN111590615A (en) * | 2020-06-01 | 2020-08-28 | 江苏科技大学 | Flexible multi-degree-of-freedom manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114905540A (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114905540B (en) | A variable stiffness soft manipulator with multiple grasping modes | |
| CN104781053B (en) | Mechanical hand | |
| CN109605404B (en) | Adaptive Robot Finger Device for Parallel Link Linear Flat Clamp with Chute | |
| CN218255196U (en) | A Multi-mode Driven Variable Stiffness Underactuated Manipulator | |
| CN106272494B (en) | The flat folder adaptive robot finger apparatus of sliding slot elbow connection rod straight line | |
| CN104889998B (en) | Underactuated Robotic Finger Device with Envelope and Grip | |
| CN109227583B (en) | Gear free travel transmission swing bar chute linear flat clamp adaptive robot finger device | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN108515528B (en) | Sliding rod time-delay deflection linear parallel clamping self-adaptive robot finger device | |
| CN110900641B (en) | A flat-clamp adaptive three-finger underactuated robotic hand | |
| CN109129548B (en) | Variable-geometry linear parallel clamping self-adaptive robot finger device | |
| CN113305874B (en) | Three-finger multi-degree-of-freedom dexterous hand mechanism | |
| CN110394819B (en) | Telescopic electric-driven manipulator | |
| CN107243915A (en) | A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack | |
| CN201913642U (en) | Electric-mechanical humanoid dexterous hand | |
| CN213765888U (en) | Robot and its gripper device | |
| CN222096154U (en) | A dexterous humanoid manipulator and robot | |
| CN216030872U (en) | Double-path gear multi-connecting-rod linear parallel clamping self-adaptive robot finger device | |
| CN220972406U (en) | Finger module, manipulator and robot | |
| CN207522618U (en) | The accurate compensating line in end puts down folder adaptive robot finger apparatus | |
| CN215548737U (en) | Finger device, manipulator and robot | |
| CN113815003B (en) | Double-path gear multi-connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN2764573Y (en) | Pneumatic manipulator of robot | |
| CN110053036A (en) | The flat folder indirect self-adaptive robot finger apparatus of concyclic slide bar straight line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |