CN110216822B - Preparation method of air pressure driven soft-soft hybrid bionic manipulator mold - Google Patents
Preparation method of air pressure driven soft-soft hybrid bionic manipulator mold Download PDFInfo
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- CN110216822B CN110216822B CN201910371516.XA CN201910371516A CN110216822B CN 110216822 B CN110216822 B CN 110216822B CN 201910371516 A CN201910371516 A CN 201910371516A CN 110216822 B CN110216822 B CN 110216822B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
- B29C39/10—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles incorporating preformed parts or layers, e.g. casting around inserts or for coating articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/26—Moulds or cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/38—Heating or cooling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C69/00—Combinations of shaping techniques not provided for in a single one of main groups B29C39/00 - B29C67/00, e.g. associations of moulding and joining techniques; Apparatus therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/748—Machines or parts thereof not otherwise provided for
Abstract
The invention discloses a preparation method of an air-driven soft-soft mixed bionic manipulator mold, which comprises a mold main body, an end cover, a vent plug, a first air cavity forming bottom plate, a first air cavity forming rod, a second air cavity forming bottom plate, a second air cavity vent rod, a back bonding piece mold pressing plate, an inextensible layer bonding mold and an inextensible layer bonding mold pressing plate.
Description
The invention relates to a divisional application of a parent application 'a preparation method of an air pressure driven soft-soft hybrid bionic manipulator mold', wherein the application date of the parent application is 12 and 21 months in 2017, and the application number of the parent application is 2017113979945.
Technical Field
The invention belongs to the field of soft robots, and particularly relates to a preparation method of an air pressure driven soft-soft mixed bionic manipulator mold.
Background
With the increasing demands on the precision and wide applicability of robot grasping, the objects to be operated by the robot are also shifted from regular, structured, rigid operation objects to chaotic or unstructured fields. The rigidity, the terminal actuating mechanism of low degree of freedom that traditional robot manipulator clamping jaw used inertia are great and with higher costs usually, and the action type that can carry out is limited, and factor of safety is low, environmental suitability is poor, the reliability is low, the transmission inefficiency, the noise is big, can meet the difficulty often in unstructured and highly crowded environment, can not satisfy some spaces, structure limited, the environment is complicated, changeable, the diversified requirement of operation object structure.
The bionic soft robot made of soft base materials has a flexible surface and ultra-redundancy, can realize accurate change of shape and size in a large range by utilizing a bionic still water skeleton structure or a muscle type still water skeleton structure, and greatly improves the operation objects, the working environment, the freedom degree of an organism and the energy consumption and the cost of the machine. Especially has wide application prospect in the fields of reconnaissance, detection, rescue, medical treatment and the like. Aiming at the defects of the traditional rigid robot and the development requirements of the novel flexible bionic robot, researchers provide the field of accurate flexible grabbing which can not be realized by the traditional manipulator for further developing and expanding the existing flexible robot. The manipulator has infinite freedom and distributed continuous deformation capacity, and can be compatible with the obstacles in a flexible deformation mode, so that the contact force can be greatly reduced, and flexible and fragile objects can be carried.
Disclosure of Invention
The invention overcomes the defects in the prior art and provides a preparation method of an air pressure driven soft-soft mixed bionic manipulator mold.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the utility model provides a soft mixed bionical manipulator mould of atmospheric pressure drive, includes mould main part, the end cover, the breather plug, first air cavity forming bottom plate, first air cavity forming pole, second air cavity forming bottom plate, second air cavity breather pole, back bonding member mould clamp plate, inextensible layer bonding mould and inextensible layer bonding mould clamp plate, the mould main part is the open cell body structure of one end closed, the inside is the arc wall, the cell body closed one end is provided with the breather pole hole, the open one end of cell body is connected with the end cover is first, set up first air cavity forming bottom plate and second air cavity forming bottom plate in the top of cell body, the equidistance sets up the halfcylinder on the second air cavity forming bottom plate, sets up the gas through hole on the halfcylinder, the arc wall middle part sets up the breather plug, the breather plug sets up on the breather plug groove, the breather plug with arc wall and first air, The inner cavity space surrounded by the second air cavity forming bottom plate is divided into a first cavity and a second cavity, the first air cavity forming rod penetrates through the end cover and extends into the first cavity, and the second air cavity vent rod penetrates through the vent rod hole and extends into the second cavity and penetrates through each semi-cylinder of the second air cavity forming bottom plate (the vent rod penetrates through each through hole).
In the above technical scheme, the ventilation plug comprises a sector part, a sector part and a ventilation pipe, the sector part is arranged on two sides of the sector part, the top of the sector part is provided with a ventilation hole, the bottom of the sector part is provided with the ventilation pipe, and the ventilation hole is communicated with the ventilation pipe.
In the above technical solution, the rear bonding member mold is used to form a bonding layer on the upper portion of the semi-cylindrical air cavity of the second air cavity.
In the technical scheme, the rear bonding piece die pressing plate is arranged on the rear bonding piece die and used for pressing the cover and sealing the rear bonding piece die.
In the technical scheme, the inextensible layer bonding die is used for forming the inextensible layer at the bottom of the bionic manipulator.
In the above technical solution, the inextensible layer bonding mold pressing plate is disposed on the inextensible layer bonding mold and is used for pressing the inextensible layer bonding mold for sealing.
In the technical scheme, the number of the semi-cylinders on the second air cavity forming bottom plate is 6-8, the width is 1.8-2mm, and the distance is 1.8-2 mm.
In the technical scheme, the radius of the section of the first air cavity is 5-6mm, and the length of the first air cavity is 35-40 mm.
A preparation method of an air pressure driven soft-soft hybrid bionic manipulator sequentially comprises the following four steps of main body manufacturing, second air cavity sealing, non-extensible layer bonding and Kevlar wire wrapping:
step one, main body manufacturing
Connecting a die main body and an end cover to form a die groove, placing a vent plug into the arc-shaped groove of the die main body, penetrating a first air cavity forming rod into the arc-shaped groove through the end cover, covering a second air cavity forming bottom plate above the die groove (a second cavity), and inserting a second air cavity vent rod into a vent rod hole of the die main body so that the second air cavity vent rod penetrates through each semi-cylinder of the second air cavity forming bottom plate; pouring the prepared silica gel solution into the mold groove, and covering the first air cavity forming bottom plate (as shown in fig. 6) after the mold groove is completely filled with the silica gel solution; and putting the whole die into an oven for curing.
Step two, sealing the second air cavity
And after the mold is solidified and cooled, pulling out the second air cavity vent rod, opening the second air cavity forming bottom plate, inserting the second air cavity vent rod back to the original position, placing the back bonding piece mold above the second air cavity, pouring a proper amount of silica gel solution, covering the back bonding piece mold with a back bonding piece mold pressing plate (shown in figure 7), and sealing the second air cavity after the silica gel is solidified.
Step three, bonding the inextensible layers
The back bonding piece mold platen and the first air cavity forming bottom plate were removed, the glass fiber was fitted to the surface of the robot, the inextensible layer bonding mold and the inextensible layer bonding mold platen (as shown in fig. 8) were covered, and placed in an oven for curing.
Step four, wrapping the Kevlar wire
And opening the mold, taking out the integral model, pulling out the first air cavity forming rod without the air hole, inserting the first air cavity vent plug with the air hole to the topmost end, and uniformly winding the Kevlar wire on the outer surface of the first air cavity.
In the technical scheme, the silica gel solution adopts a Smooth-On (Simmons) Exoflex silica gel product, and the model is Exoflex-20.
In the technical scheme, in the step one, the curing temperature is 60-70 ℃, and the curing time is 30-49 min.
In the above technical solution, in the third step, the thickness of the inextensible layer is 0.5-2 mm.
In the above technical scheme, the winding distance of the Kevlar wire is 2.6-2.8mm
Compared with the prior art, the invention has the beneficial effects that:
1. the preparation method of the pneumatic driving soft-soft mixed bionic manipulator mold is used for preparing the pneumatic driving soft-soft mixed bionic mechanical finger, the bionic mechanical finger takes index finger structural parameters with the highest function ratio as reference, and a double-joint pneumatic actuator is adopted to replace three joint fingers of a human hand, so that the aim of simplifying the structure while effectively grabbing is achieved. The bionic mechanical finger first air cavity (simulating a first joint of a finger) is designed into a single semi-cylindrical cavity, and aims to realize large-range positioning of a grabbed object through small-angle bending; the second air cavity (simulating the second joint and the third joint of the finger) is designed into a composite semi-cylindrical cavity, and the object can be grabbed by bending at a large angle; the design can realize the maximization of the efficacy of each part.
2. According to the technical scheme, the Exoflex-20 silica gel solution is matched with the special die to prepare the mechanical finger, the preparation method is explored and improved, the winding distance with the best Kevlar wire efficiency is obtained, and the problem that a second air cavity with a composite semi-cylindrical cavity structure is not easy to form is solved.
Drawings
FIG. 1 is a schematic view of the overall structure of the mold of the present invention.
Fig. 2 is a schematic structural view of the mold body.
Fig. 3 is a schematic view of the end cap structure.
FIG. 4 is a schematic diagram of the structure of the second air cavity forming bottom plate.
Fig. 5 is a schematic view of the vent plug, wherein a is a top view and b is a bottom view.
Fig. 6 is a schematic view of a planar structure of a mold in a preparation process 1.
Fig. 7 is a schematic view of the mold plane structure in the preparation process 2.
Fig. 8 is a schematic view of the mold plane structure in the preparation process 3.
The mold comprises a first air cavity forming bottom plate 1, a second air cavity forming bottom plate 1-1, a semi-cylinder 1-2, a through air hole 2, a second air cavity vent rod 2, a mold main body 3, a vent plug groove 3-1, an arc groove 3-2, an edge 3-3, a vent rod hole 3-4, a vent plug 4-1, a fan-shaped portion 4-2, a vent hole 4-3, a fan-shaped portion 4-4, a vent pipe 5, an end cover 6, a first air cavity forming rod 7, a first air cavity forming bottom plate 8, a rear bonding piece mold 9, a rear bonding piece mold pressing plate 10, an inextensible layer bonding mold pressing plate 11 and an inextensible layer bonding mold.
Detailed Description
The invention is described in further detail below with reference to specific embodiments and with reference to the following figures:
exoflex-20 silica gel products used in the following examples were purchased from Cook-On, Inc., Beijing Chinghua landscape technology development Co., Ltd, and the technical parameters are shown in the following table.
TABLE 1 Ecoflex-20 related technical parameters
As shown in the figure, the air pressure driven soft and soft mixed bionic manipulator mold comprises a mold main body 3, an end cover 5, a vent plug 4, a first air cavity forming bottom plate 7, a first air cavity forming rod 6, a second air cavity forming bottom plate 1, a second air cavity vent rod 2, a rear bonding piece mold 8, a rear bonding piece mold pressing plate 9, an inextensible layer bonding mold 11 and an inextensible layer bonding mold pressing plate 10, wherein the mold main body is of a groove body structure with one closed end and one open end, an arc-shaped groove 3-2 is arranged inside the groove body structure, a vent rod hole 3-4 is formed at the closed end of the groove body, the open end of the groove body is connected with the end cover first, the first air cavity forming bottom plate and the second air cavity forming bottom plate are arranged above the groove body, semi-cylinders 1-1 are arranged on the second air cavity forming bottom plate at equal intervals, through air holes 1-2 are arranged on the semi-cylinders, the vent plug is arranged on the vent plug groove, the inner cavity space surrounded by the arc-shaped groove, the first air cavity forming bottom plate and the second air cavity forming bottom plate is divided into a first cavity and a second cavity by the vent plug, the first air cavity forming rod penetrates through the end cover to stretch into the first cavity, and the second air cavity vent rod penetrates through the vent rod hole to stretch into the second cavity and penetrates through each semi-cylinder of the second air cavity forming bottom plate (the vent rod penetrates through each vent hole).
The ventilating plug is composed of a sector part 4-1, a sector wing part 4-3 and a ventilating pipe 4-4, the sector wing part is arranged on two sides of the sector part, the top of the sector part is provided with a ventilating hole 4-2, the bottom of the sector part is provided with the ventilating pipe, and the ventilating hole is communicated with the ventilating pipe.
And the rear bonding piece die is used for forming a bonding layer on the upper part of the semi-cylindrical air cavity of the second air cavity.
The back bonding piece die pressing plate is arranged on the back bonding piece die and used for pressing the cover to seal the back bonding piece die.
The non-extensible layer bonding die is used for forming a non-extensible layer at the bottom of the bionic manipulator.
And the non-extensible layer bonding die pressing plate is arranged on the non-extensible layer bonding die and used for pressing the non-extensible layer bonding die to seal.
The number of the semi-cylinders on the second air cavity forming bottom plate is 7, the width of the semi-cylinders is 2mm, and the distance of the semi-cylinders is 2 mm.
The cross section radius of first air cavity is 6mm, and the length of first air cavity is 40 mm.
A preparation method of an air pressure driven soft-soft hybrid bionic manipulator sequentially comprises the following four steps of main body manufacturing, second air cavity sealing, non-extensible layer bonding and Kevlar wire wrapping:
step one, main body manufacturing
Connecting a die main body and an end cover to form a die groove, placing a vent plug into the arc-shaped groove of the die main body, extending a first air cavity forming rod into the arc-shaped groove after penetrating the end cover, covering a second air cavity forming bottom plate above the die groove (a second cavity), and inserting a second air cavity vent rod into a vent rod hole of the die main body so that the second air cavity vent rod penetrates through each semi-cylinder of the second air cavity forming bottom plate; pouring the prepared silica gel solution into the mold groove, and covering the first air cavity forming bottom plate (as shown in fig. 6) after the mold groove is completely filled with the silica gel solution; and putting the whole die into an oven for curing.
Step two, sealing the second air cavity
And after the mold is solidified and cooled, pulling out the second air cavity vent rod, opening the second air cavity forming bottom plate, inserting the second air cavity vent rod back to the original position, placing the back bonding piece mold above the second air cavity, pouring a proper amount of silica gel solution, covering the back bonding piece mold with a back bonding piece mold pressing plate (shown in figure 7), and sealing the second air cavity after the silica gel is solidified.
Step three, bonding the inextensible layers
The back bonding piece mold platen and the first air cavity forming bottom plate were removed, the glass fiber was fitted to the surface of the robot, the inextensible layer bonding mold and the inextensible layer bonding mold platen (as shown in fig. 8) were covered, and placed in an oven for curing.
Step four, wrapping the Kevlar wire
And opening the mold, taking out the integral model, pulling out the first air cavity forming rod without the air hole, inserting the first air cavity vent plug with the air hole to the topmost end, and uniformly winding the Kevlar wire on the outer surface of the first air cavity.
In the first step, the curing temperature is 60 ℃, and the curing time is 30 min.
In step three, the thickness of the inextensible layer is 2 mm.
And the winding distance of the Kevlar wire is 2.8 mm.
Thermal curing technique:
the curing step in an oven at 60-70 c can greatly reduce the manufacturing time (the curing step can be shortened from overnight to 30min), but improper heating operation is likely to cause fabrication failure, and thus there are many concerns in the heat curing process.
At the high temperature of the oven, the 3D model of ABS material made by the mold becomes very soft. Therefore, any rubber bands or clamps on the outside of the mold must be removed before placement in the oven, otherwise the softened mold will sag and deform. Before the mold is placed in an oven, the poured mold is placed at a lower room temperature, the clamp or the rubber band is connected for at least one hour, and then the mold is placed in the oven. This operation will cause partial curing of the silica gel, reducing the risk of leakage.
If one hour cannot wait before placing the mold in the oven, the mold is placed 5 minutes before the oven cures and then placed on both sides to complete the cure (again, because the mold will sag and begin to leak at these temperatures). It is recommended that the outer skin coating step be performed without placing it in an oven, and rather, to try to place it overnight to prevent leakage from the mold.
After the thermosetting is finished, the die can be easily peeled off by hand without being pried by a screwdriver. After removal, they can be slightly heated in an oven and then allowed to cool on a flat surface to eliminate a small amount of deformation from removal of the mold.
Bubble reduction method:
in the process of making the model, bubbles can be introduced into the system by stirring and pouring the silica gel solution, and the pneumatic actuator formed by the silica gel with solidified bubbles not only influences the attractiveness and greatly reduces the strength, but also possibly causes the system. The method for reducing the bubbles of the system is mainly embodied in the following aspects:
under the condition that a vacuum extraction device can be used, the stirred mixed liquid is placed in a vacuum tank to stand for about 5 minutes as much as possible, so that all bubbles introduced in the stirring process are discharged; when the vacuum extractor cannot be used, the stirring speed should be slowed down as much as possible and the stirring should be performed in the same direction. Exoflex-20 silica gel has a workable time of 30 minutes, sufficient for mixing and casting. After the stirring is finished, properly standing the mixed solution to discharge a small amount of bubbles dissolved in the mixed solution; meanwhile, in order to avoid introducing a large amount of bubbles in the pouring process, a mixed solution needs to be uniformly coated on the surface of the mold in advance, so that the effect of surface tension can be reduced, and bubbles are greatly reduced; the operation process properly controls the indoor temperature. The temperature in a certain range is smaller, the bubbles are less, and the model has the least bubbles at the room temperature of 25 ℃ in the manufacturing process and has higher solidification speed.
TABLE 2 Effect of different temperatures on modeling
The present invention has been described in detail, but the above description is only a preferred embodiment of the present invention, and is not to be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (2)
1. A preparation method of an air pressure driven soft and soft hybrid bionic manipulator is characterized by comprising the following steps: sequentially carrying out the following four steps of main body manufacturing, second air cavity sealing, non-extensible layer bonding and Kevlar wire wrapping:
step one, main body manufacturing
Connecting a die main body and an end cover to form a die groove, placing a vent plug into the arc groove of the die main body, penetrating a first air cavity forming rod into the arc groove through the end cover, covering a second air cavity forming bottom plate above the die groove, and inserting a second air cavity vent rod into a vent rod hole of the die main body so as to ensure that the second air cavity vent rod penetrates through each semi-cylinder of the second air cavity forming bottom plate; pouring the prepared silica gel solution into a mold groove, and covering a first air cavity forming bottom plate after the mold groove is completely filled with the silica gel solution; putting the whole mould into an oven for curing;
step two, sealing the second air cavity
After the mold is solidified and cooled, pulling out the second air cavity vent rod, opening the second air cavity forming bottom plate, inserting the second air cavity vent rod back to the original position, placing the rear bonding piece mold above the second air cavity, pouring a proper amount of silica gel solution, covering the rear bonding piece mold with a rear bonding piece mold pressing plate, and sealing the second air cavity after the silica gel is solidified;
step three, bonding the inextensible layers
Taking down the die pressing plate of the back bonding piece and the first air cavity forming bottom plate, bonding the glass fiber on the surface of a manipulator, covering the bonding die of the inextensible layer and the die pressing plate of the inextensible layer, and putting the bonding die and the die pressing plate of the inextensible layer into an oven for curing;
step four, wrapping the Kevlar wire
And opening the mold, taking out the integral model, pulling out the first air cavity forming rod without the air hole, inserting the first air cavity vent plug with the air hole to the topmost end, and uniformly winding the Kevlar wire on the outer surface of the first air cavity.
2. The method for preparing the air pressure driven soft-flexible hybrid bionic manipulator according to claim 1, is characterized in that: the silica gel solution adopts a Smooth-On Exoflex silica gel product, and the model is Exoflex-20; in the first step, the curing temperature is 60-70 ℃, and the curing time is 30-49 min; in step three, the thickness of the inextensible layer is 0.5-2 mm; the winding distance of the Kevlar wire is 2.6-2.8 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910371516.XA CN110216822B (en) | 2017-12-21 | 2017-12-21 | Preparation method of air pressure driven soft-soft hybrid bionic manipulator mold |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910371516.XA CN110216822B (en) | 2017-12-21 | 2017-12-21 | Preparation method of air pressure driven soft-soft hybrid bionic manipulator mold |
| CN201711397994.5A CN108247926B (en) | 2017-12-21 | 2017-12-21 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
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| CN201711397994.5A Division CN108247926B (en) | 2017-12-21 | 2017-12-21 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
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| CN110216822B true CN110216822B (en) | 2021-04-06 |
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| CN201711397994.5A Expired - Fee Related CN108247926B (en) | 2017-12-21 | 2017-12-21 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
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| CN109015724A (en) * | 2018-07-17 | 2018-12-18 | 上海交通大学 | Pneumatic software handgrip |
| WO2020082529A1 (en) * | 2018-10-24 | 2020-04-30 | 五邑大学 | Method for fabricating rigid/flexible coupling bionic manipulator arm and fingers thereof |
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN109605633A (en) * | 2018-12-29 | 2019-04-12 | 江南大学 | A kind of hand-made modeling tool of novel soft |
| CN109702938A (en) * | 2018-12-29 | 2019-05-03 | 江南大学 | A kind of hand-made modeling tool of the software of integrated molding |
| CN110125958B (en) * | 2019-05-23 | 2022-04-05 | 五邑大学 | Manufacturing method of inflatable soft finger |
| CN110142904B (en) * | 2019-06-18 | 2021-07-23 | 浙江理工大学 | Manipulator mold and using method |
| CN111358665A (en) * | 2020-03-26 | 2020-07-03 | 南京鑫敬光电科技有限公司 | Soft driver and manufacturing method thereof |
| CN113414995B (en) * | 2021-06-15 | 2022-09-16 | 南京航空航天大学 | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof |
| CN114889035A (en) * | 2022-05-16 | 2022-08-12 | 佛山华胜伟业精密模具有限公司 | Secondary forming method of flexible finger |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5753280A (en) * | 1996-06-28 | 1998-05-19 | Husky Injection Molding Systems Ltd. | Compact and torque free side entry trolley robot |
| US20090113669A1 (en) * | 2007-11-07 | 2009-05-07 | David Keith Gill | Flexible grip and method of making same |
| CN101786306B (en) * | 2010-01-28 | 2012-01-25 | 同济大学 | Mould for foot pad of bionic wetness-absorption wall-climbing robot |
| CN202702493U (en) * | 2012-04-13 | 2013-01-30 | 璇瑰塑胶工业(深圳)有限公司 | Manipulator insert fixture inside mould |
| CN105619379B (en) * | 2016-02-21 | 2017-10-10 | 北京航空航天大学 | A kind of software imitation human finger and preparation method thereof |
| CN105965533B (en) * | 2016-06-17 | 2023-07-25 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN107116734A (en) * | 2017-04-10 | 2017-09-01 | 浙江工业大学 | A kind of manufacture craft of single airway macromolecule software finger |
| CN107186748A (en) * | 2017-07-27 | 2017-09-22 | 常州信息职业技术学院 | A kind of anti-tampering pneumatic-finger and preparation method thereof |
| CN207889000U (en) * | 2017-12-21 | 2018-09-21 | 天津大学 | A kind of soft soft mixing bionic mechanical hand mold of air pressure driving |
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- 2017-12-21 CN CN201910371516.XA patent/CN110216822B/en not_active Expired - Fee Related
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| CN108247926B (en) | 2019-12-03 |
| CN110216822A (en) | 2019-09-10 |
| CN108247926A (en) | 2018-07-06 |
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