CN111452066A - Full-flexible bionic pneumatic manipulator - Google Patents
Full-flexible bionic pneumatic manipulator Download PDFInfo
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- CN111452066A CN111452066A CN202010265575.1A CN202010265575A CN111452066A CN 111452066 A CN111452066 A CN 111452066A CN 202010265575 A CN202010265575 A CN 202010265575A CN 111452066 A CN111452066 A CN 111452066A
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- 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
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- 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
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Abstract
A kind of all flexible bionical pneumatic type mechanical arm, is formed by at least one mechanical arm unit, every said mechanical arm unit includes bionical actuating system and actuating system, bionical actuating system includes a cylindrical shell and at least three air cavities of the corrugated structure made of flexible material of corrugated structure made of flexible material, the whole cylindrical shell presents the trunk structure, the appearance of the air cavity is the hollow cycle reducing solid of revolution, many air cavities are arranged in the cylindrical shell in parallel, cylindrical shell and air cavity are all one end closed another end opening, the closed end II outer wall of the air cavity is bonded with the closed end I inner wall of the cylindrical shell together, except that the bond, air cavity and cylindrical shell, air cavity and air cavity are all not contacted in the initial condition; the driving system comprises a pneumatic driver, the pneumatic driver is provided with a plurality of air inflation pipelines, and the air inflation pipelines are respectively connected with the opening end II of the air cavity and the opening end I of the cylindrical shell. The gripping capacity cavity is flexible to use, simple in structure and easy to operate.
Description
Technical Field
The invention relates to a pneumatic manipulator, in particular to a fully flexible bionic pneumatic manipulator, and belongs to the field of robot design.
Background
Although the traditional robot is widely applied to the fields of industry, medicine, construction industry and the like, the technical problems that the motor drive inertia is large, the movement is heavy, the interaction between a rigid body and full flexibility is difficult to control and the like still exist. These disadvantages limit the range of applications of conventional robots, such as the gripping of fragile objects, underwater operations, narrow spaces, etc.
With the continuous development of computer technology, control technology and artificial intelligence technology, robots play more and more important roles in the fields of intelligent manufacturing, medical technology, aerospace and the like, and intelligent robots are rapidly developing towards natural interaction, bionic technology and man-machine cooperation.
In recent years, with the rise of bionic technology and intelligent materials, scientists use flexible intelligent materials to simulate biological structures and develop fully flexible robots based on the principle of biological motion. Crawling and twisting are achieved by changing the original shape and size, the robot has wide application prospect in an unstructured environment, and the defects that the traditional robot is limited in movement in a narrow space and the like are overcome.
The grasping operation is an important capability that the robot must possess to perform a variety of complex tasks. The driving mode of the fully flexible manipulator is mainly divided into two types: smart material actuation and pneumatic actuation. The pneumatic-driven fully-flexible manipulator is mainly combined with a 3D printing technology to print a driver mold, super-elastic silica gel materials are injected to manufacture a fully-flexible robot driver, and the driver is deformed by applying air pressure. Compared with a full-flexible manipulator driven by an intelligent material, the pneumatic-driven full-flexible manipulator is larger in deformation, faster in response and more flexible in movement, and is suitable for wider scenes.
A multi-degree-of-freedom pneumatic flexible manipulator is known. The multi-freedom-degree flexible actuator comprises a multi-freedom-degree flexible actuator, a circular base and a sealing base, wherein three fixed ends are arranged on the circular base at equal intervals along the circumferential direction, each fixed end is provided with three air pipe through holes and a wire placing hole, the port of each fixed end extends outwards to form a flange, the sealing base is embedded in the flange, the multi-freedom-degree flexible actuator is installed on each fixed end through the sealing base, three air passages are formed in the multi-freedom-degree flexible actuator, and a cylindrical cavity is formed in the middle of; three air inlet channels of the sealing base are respectively inserted into the three air passages, and a cylindrical seat of the sealing base is inserted into the cylindrical cavity; two inertial sensors connected through a bent lead are arranged in the multi-degree-of-freedom flexible actuator. The multi-degree-of-freedom pneumatic flexible manipulator is compact in structure, and can perform designated angle bending operation of multiple degrees of freedom when a multi-inflation assembly is inflated, so that the problem that the traditional pneumatic actuator cannot perform multi-degree-of-freedom operation and angle feedback is solved. The multi-degree-of-freedom pneumatic flexible manipulator has the following defects:
the structure is complex, a plurality of rigid connecting components are involved, and the air passage is only provided with a trapezoidal bending structure which is used for increasing the stretching area at one side close to the outer surface, so that the inflation can only provide one-direction force for each air passage, and the degree of freedom of the multi-freedom-degree flexible actuator is greatly limited.
And secondly, the grabbing mode is single, only a mode of combining a plurality of 'multi-degree-of-freedom flexible actuators' can be adopted, and only the grabbing operation can be realized on an object placed in the center of the manipulator. The multifunctional flexible manipulator comprises at least one group of three-cavity connected flexible arms, each three-cavity connected flexible arm comprises three hoses and three independent flexible grippers, the inner cavity of each flexible gripper is of a hollow structure, one end of each hose is connected with the corresponding inner cavity of each flexible gripper, and the other end of each hose is connected with a first driving device for supplying air to the hose. The flexible gripper comprises a three-cavity conjoined flexible arm, a first driving device, a second driving device, a third driving device and a fourth driving device, wherein the first driving device is used for inflating the corresponding flexible tubes to different degrees, so that the flexible gripper is bent and deformed, the flexible gripper can be bent and deformed to form a joint bending flexible arm similar to a hand, and the first driving device is used for deflating/exhausting the corresponding flexible tubes to different degrees, so that the flexible gripper can be restored to an initial position. The grabbing and releasing action, the lifting action, the screwing/unscrewing action and the multidirectional twisting action of the objects are completed by arranging the multiple groups of three-cavity connected flexible arms, and the manual burden can be reduced and the production efficiency can be improved. The three-cavity conjoined flexible arm (hereinafter referred to as conjoined arm) structure in the multifunctional flexible manipulator has the following defects: 1. the inner cavity of the flexible gripper in the conjoined arm and the outer wall of the flexible gripper are not arranged to be in a corrugated pipe structure, and the flexible deformation capacity of the flexible gripper is poorer than that of the flexible gripper in the patent, and the deformation amount is small. 2. There are many rigidity auxiliary structures, for example when realizing "screw bottle lid" this operation, need to use complicated rigidity machinery such as rotating electrical machines, it is inconvenient to use.
Also known is a pneumatic flexible manipulator for deep well rescue, which comprises a flexible telescopic arm, a mechanical gripper, an air charging and discharging device and a control device; the flexible telescopic arm is a strip-shaped air pipe made of soft elastic material, and three parallel strip-shaped air bag cavities which are independently sealed are arranged in the flexible telescopic arm along the length direction of the pipe; one end of the air bag cavity is closed, and the other end of the air bag cavity is opened and is in butt joint with the air charging and discharging device; the control device is in control connection with the air charging and discharging device; the mechanical gripper comprises a plurality of mechanical claws and hinges, one end of each mechanical claw is connected with the hinge, and the hinges rotate through a rotating motor so as to drive the mechanical claws to swing; the hinge is fixedly connected with one end of the flexible telescopic arm. The invention has small volume, convenient operation, reliable performance and low cost, and can replace rescue workers to enter a narrow deep well to carry out rescue operation. The 'pneumatic flexible manipulator for deep well rescue' has the following problems: 1. the number of the air sac cavities is fixed to be three, and the number of the air sac cavities can not be flexibly adjusted according to needs. 2. One side of the air bag cavity, which is only close to the outer surface of the telescopic arm, is provided with a toothed structure, and the other side of the air bag cavity is not provided with a toothed structure, so that the bending direction of each air bag cavity after being inflated is limited, and the degree of freedom of the whole telescopic arm is limited. 3. The rigid mechanical gripper driven by the motor is used as a gripping mode, soft gripping cannot be realized, and the structure is complex.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the full-flexible bionic pneumatic manipulator which has the advantages of strong grabbing capacity, more flexibility in use, simple structure and easiness in operation.
The technical scheme adopted by the invention for solving the technical problems is as follows: the manipulator unit comprises a bionic execution system and a driving system, the bionic execution system comprises a cylindrical shell with a corrugated pipe structure made of flexible materials and at least three air cavities with the corrugated pipe structure made of flexible materials, the cylindrical shell and the air cavities are of structures with one closed end and the other open end, the whole cylindrical shell is of a trunk structure, the appearance of the air cavities is a hollow periodic variable-diameter revolving body, a plurality of air cavities are arranged in parallel and are jointly arranged in the cylindrical shell, the outer wall of a closed end II of each air cavity is bonded with the inner wall of a closed end I of the cylindrical shell, and the air cavities are not in contact with the cylindrical shell and the air cavities in the initial state except the bonding positions; the driving system comprises a pneumatic driver, the pneumatic driver is provided with a plurality of air inflation pipelines, and the air inflation pipelines are respectively connected with the opening end II of the air cavity and the opening end I of the cylindrical shell.
Compared with the existing full-flexible bionic mechanical arm, the full-flexible bionic pneumatic mechanical arm is mainly composed of a bionic execution system and a driving system, wherein the bionic execution system is a cylindrical shell, the inner structure of the bionic execution system is an air cavity similar to a nose, the bionic execution system is driven by a pneumatic driver, and posture change can be realized by controlling air pressure values of different air cavities. Secondly, more importantly, the use flexibility of the manipulator is remarkably improved, the air cavity in the shape of the trunk can respectively realize different expansion and bending from the aspect of the bionic degree, the cylindrical shell can directly obtain different expansion and further generate interaction force by different deformation degrees between the air cavity and the air cavity, the air cavity and the cylindrical shell generate the action force because of the connecting position, the air cavity and the cylindrical shell are different and matched in shape, and the factors are comprehensively exerted, so that the real trunk behavior can be highly restored, more and more detailed bionic actions can be obtained, the grabbing capacity is remarkably improved, and the manipulator can be used for executing various complex tasks; in terms of the number of the air cavities, the full-flexible bionic manipulator has different degrees of freedom due to the different numbers of the air cavities, and can be flexibly matched according to the use scene, so that a specific grabbing task can be completed on the premise of maximally saving the cost; from the combination aspect of full flexible pneumatic manipulator, the manipulator quantity of difference can realize the different effect of snatching: the single manipulator can realize curling and snatch, and the combination of a plurality of manipulators can realize pressing from both sides and get and snatch etc..
Specifically, the beneficial effects of the present invention compared to the prior art are analyzed as follows:
compared with the existing 'multi-degree-of-freedom pneumatic flexible manipulator', on one hand, each manipulator unit can realize 360-degree bending, and the flexibility is higher. On the other hand, the invention also enables gripping in a curling manner by means of only one manipulator unit. And when a plurality of mechanical units are combined for use, because the air cavities of the manipulator units are directly connected with the air guide channels in the air charging device without the restraint of rigid connecting parts, and the air cavities and the flexible cylindrical shells are connected in a bonding mode, the number of the units and the number of the air cavities in each manipulator unit can be adjusted as required, and the flexibility is higher.
Compared with the existing 'multifunctional flexible manipulator', firstly, the invention adopts the corrugated pipe structure to design the cylindrical shell and the air cavity, thereby ensuring larger deformation; secondly, when the operation of screwing the bottle cap is realized, the bending of the mechanical hand unit can be controlled only by air pressure, so that the operation is very convenient and efficient.
Compared with the existing 'pneumatic flexible manipulator for deep well rescue', firstly, the air cavities and the cylindrical shell are connected in a bonding mode, so that the quantity of the air cavities can be conveniently adjusted according to needs. Secondly, each air cavity is designed into a periodically variable-diameter revolving body, and the forces required by bending the air cavities in all directions are equal, so that more degrees of freedom can be obtained after inflation. Then, the manipulator unit is made of fully flexible materials, soft grabbing can be achieved, and the manipulator unit is safe, simple and easy to operate.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of one embodiment of the present invention.
FIG. 2 is a cross-sectional view of one embodiment of the present invention.
FIG. 3 is a longitudinal cross-sectional view of one embodiment of the present invention.
Fig. 4 is a schematic view of the overall structure of an air chamber in one embodiment of the present invention.
Figure 5 is a schematic longitudinal section of an air chamber according to an embodiment of the invention.
Fig. 6 is a schematic view showing the overall structure of a cylindrical housing according to an embodiment of the present invention.
Figure 7 is a schematic longitudinal cross-section of a cylindrical housing in an embodiment of the invention.
FIG. 8 is a diagram illustrating simulation results under pneumatic excitation according to an embodiment of the present invention.
In the figure: 1. the air-conditioning device comprises a cylindrical shell 1-1, a closed end I, 1-2, an open end I, 2, an air cavity 2-1, a closed end II, 2-2 and an open end II.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Example 1:
fig. 1 to 8 are schematic structural views showing a preferred embodiment 1 of the present invention, and a fully flexible bionic pneumatic manipulator in fig. 1 to 3 is composed of a manipulator unit, and the manipulator unit comprises a bionic execution system and a driving system. The bionic execution system comprises a cylindrical shell 1 with a corrugated pipe structure made of flexible materials and three air cavities 2 with the corrugated pipe structure made of flexible materials, the three air cavities 2 are arranged in parallel and are jointly arranged in the cylindrical shell 1, the air cavities 2 are preferably distributed in the middle of the inner space of the cylindrical shell 1, and due to the design, the controllability of the degree of freedom of a flexible hand is optimal under the condition that the number of the air cavities 2 is certain; the preferable design is that the included angle between the adjacent air cavities 2 equally divides the circumference, and the design of equally dividing the circumference is also convenient for ensuring the controllability of the degree of freedom of the flexible hand to be optimal under the condition of a certain number of the air cavities 2; the opening direction of the air cavity 2 is consistent with that of the cylindrical shell 1, the outer wall of the closed end II 2-1 of the air cavity 2 is bonded with the inner wall of the closed end I1-1 of the cylindrical shell 1, and the air cavity 2 is not contacted with the cylindrical shell 1, the air cavity 2 and the air cavity 2 in an initial state except for bonding positions. In addition, the driving system provides power for bending of the manipulator; the driving system comprises a pneumatic driver, the pneumatic driver is provided with three inflation pipelines, the three inflation pipelines are respectively connected with the open ends II 2-2 of the three air cavities 2, the air pressure of each air cavity 2 can be controlled independently, and the open end I1-2 of the cylindrical shell 1 is connected with an inflation device in a sealing mode through conventional connecting structures such as clamps. Preferably, the radius of the inflation conduit is the same as the radius of the air cavity 2 in order to achieve a sealed connection with the air cavity 2.
As shown in fig. 4 to 5, the air cavity 2 is a hollow periodically variable-diameter revolving body with one closed end and one open end, and the shape structure can ensure that the air cavity 2 preferentially lengthways extends instead of transversely expands when being inflated, and can ensure that the manipulator unit has the advantage of large deformation. Two ends are respectively a closed end II 2-1 and an open end II 2-2, the closed end II 2-1 is directly bonded with the cylindrical shell 1, in order to realize integral flexibility, silicon rubber is preferably used as a bonding agent, and the type of the silicon rubber can be GD401 or PDMS (polydimethylsiloxane); the opening end II 2-2 is connected with a driving system. When the air pressure inside the air chamber 2 increases, the air chamber 2 is preferentially elongated in the longitudinal direction due to the constraint action of the bellows structure.
As shown in figures 6 to 7, the cylindrical shell 1 is also closed at one end and open at the other end, the whole appearance is like a nose, and the open end I1-2 is connected with a driving system and plays a role of fixing the open end I1-2. The bending attitude of the cylindrical casing 1 depends on the values of the air pressures in the three air chambers 2. When the cylindrical shell 1 is pressed by the deformed air cavity 2, the cylindrical shell is stretched due to stress, and the farther the distance between each part of the cylindrical shell 1 and the deformed air cavity 2 is, the smaller the stretching amount is.
FIG. 8 is a graph showing simulation results of example 1 of the present invention under pneumatic excitation. The abaqus CAE is used as simulation software, the number of air bags in a simulation model is 3, and air is introduced into only one air cavity 2, so that the air pressure in the air cavity 2 is increased from 0Mpa to 0.1 Mpa. The manipulator will assume a curved attitude as a whole.
As an optimal design scheme of this embodiment, the inside air cavity 2 and the outside cylindrical shell 1 both adopt 3D printing technology, and with polydimethylsiloxane (PDMS for short), the preparation material can also be replaced by other materials that are flexible after curing, such as AB glue, thereby guaranteed overall structure's flexibility and environmental friendliness, make the manipulator can adapt to the surrounding environment well, accomplish great deformation fast, and then realize soft snatching.
In this embodiment 1, the number of the air chambers 2 may be other numbers than three, and the pneumatic drivers have the same number of air inflation pipelines; the bending of the entire cylindrical housing 1 is achieved by controlling the air pressure variation of the plurality of air chambers 2 inside, so that the grasping operation can be achieved in a curling manner.
The working principle of embodiment 1 of the invention is as follows:
when gas is filled into the gas chamber 2, the gas pressure in the gas chamber 2 is gradually increased. Because the air cavity 2 is restricted by the structure of the bellows, the whole air cavity 2 can be preferentially deformed in the length direction, and the whole length is increased; and because the air cavity 2 is connected with the flexible cylindrical shell 1 of the external corrugated pipe structure, when the air cavity 2 extends, the joint of the cylindrical shell 1 and the air cavity 2 is stressed, so that the cylindrical shell 1 extends, and the distance between each part of the cylindrical shell 1 and the deformed air cavity 2 is farther, and the extension amount is smaller. The fully flexible bionic pneumatic manipulator can present different postures by the pressure combination of different air cavities 2. For example, when the same amount of gas is filled into each gas cavity 2, the whole manipulator extends towards the right front, and the purpose of approaching to the object to be grabbed can be achieved; when only a plurality of air cavities 2 are filled with air, and the rest air cavities 2 are not filled with air, the whole manipulator bends towards the air cavities 2 which are not filled with air because the pressure of the cylindrical shell 1 transmitted by each air cavity 2 is uneven. In combination with this characteristic, when the entire length of the manipulator is sufficient, the real trunk behavior can be highly restored, and the gripping can be realized in a curled manner.
The whole length of the manipulator can be flexibly changed according to the requirements of application scenes. When the length of the manipulator is not enough to realize grabbing in a curling mode, the fully flexible bionic pneumatic manipulator can be further formed by combining a plurality of manipulator units, each manipulator unit is independently controlled, the manipulator units are combined for use, and grabbing operation is realized in a clamping mode. For example, the embodiments 2 and 3 are structural solutions in which the number of robot units is three and four, respectively. In embodiment 2, three robot units are combined to realize the operation of "screwing". Taking a circular bottle cap as an example, at the moment, three manipulator units are respectively occupied at three corners of an equilateral triangle, and the inner side of each manipulator unit is tightly close to the bottle cap; then changing the air pressure of the air cavity 2 in each manipulator unit to ensure that each manipulator unit is bent along the tangent direction of the bottle cap; the bottle cap is screwed under the action of friction force; restoring the air pressure in the air cavity 2 to an initial state, and restoring each manipulator to an initial position; and repeating the operations to finally finish the action of screwing the bottle cap. In embodiment 3, four robot units are respectively arranged at the four corners of a square, and the four robot units are bent toward the center of the square by controlling the air pressure of different air chambers 2 in each robot unit, so that an object placed at the center can be clamped.
The fully flexible bionic pneumatic manipulator of each embodiment of the invention is mainly based on a 3D printing technology and a silicone rubber fluid forming technology and is manufactured according to the following steps:
firstly, analyzing the number and size of the ripples of the air cavity 2 and the cylindrical shell 1, the number and distribution of the air cavities 2, the thickness of the cylindrical shell 1 and the like by using Abaqus CAE finite element simulation software, gradually optimizing size parameters, comprehensively considering multi-angle factors and finally determining the lower structure.
After the relevant structures and parameters are determined, the mold of the air cavity 2 is designed by using three-dimensional modeling software (such as SolidWorks, AutoCAD, 3D MAX, etc.), and then the mold of the cylindrical shell 1 is designed.
After the molds are designed, file formats are converted, the molds are printed in a 3D printer one by one, and in order to prevent the molds from deforming in the processes of injecting materials and solidifying, each mold needs to be printed with multiple copies.
After the mold printing is finished, the surface of the mold needs to be finely ground so as to prevent the influence of flaws appearing in the 3D printing process on the molding of a manipulator sample. After all parts are cured and demoulded, silicon rubber is used as an adhesive, the closed end II 2-1 of the air cavity 2 is connected with the inner surface of the cylindrical shell 1 and is assembled with a related driving system, and finally the fully flexible bionic pneumatic manipulator is obtained.
In summary, the significant advantages of the present invention over the prior art are summarized as follows:
1) the fully flexible bionic manipulator has a simple structure, can realize posture change only by controlling the air pressure values of different air cavities 2, and is convenient to operate.
2) The fully flexible bionic manipulator is flexible to use. From the aspect of the number of air cavities 2, the number of different air cavities 2 enables the fully flexible bionic manipulator to have different degrees of freedom, and the fully flexible bionic manipulator can be flexibly matched according to use scenes, so that a specific grabbing task can be completed on the premise of saving cost to the maximum extent. From the aspect of combination, different grabbing effects can be realized by different manipulator unit numbers: the single mechanical hand unit can realize curling and grabbing; the combination of a plurality of manipulator units can realize clamping and grabbing and the like.
3) The fully flexible bionic manipulator adopts a fully flexible design and is highly environment-friendly. On one hand, the PDMS is inert in chemical characteristics and hydrophobic, so that the PDMS has better adaptability than the traditional rigid manipulator in acid conditions, underwater and other environments, is non-toxic and non-flammable, and has wide application conditions; on the other hand, the full flexible structure makes the manipulator can take place passively and deform in order to adapt to the change in external space, has better flexibility than traditional rigidity manipulator. In addition, the full flexible structure can make this manipulator realize soft the snatching, can protect better and wait to snatch the object.
4) The fully flexible bionic manipulator is prepared by adopting a 3D printing technology, and the fully flexible bionic manipulator is low in raw material price and convenient for large-scale preparation.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiment according to the technical spirit of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a full flexible bionical pneumatic type manipulator, comprises at least one manipulator unit, and every manipulator unit individual control uses characterized by between the manipulator unit in the combination: each manipulator unit comprises a bionic execution system and a driving system,
the bionic execution system comprises a cylindrical shell (1) with a corrugated pipe structure made of flexible materials and at least three air cavities (2) with the corrugated pipe structure made of the flexible materials, wherein the cylindrical shell (1) and the air cavities (2) are of structures with one closed end and the other open end, the whole cylindrical shell (1) is of a trunk structure, the appearance of the air cavities (2) is a hollow periodic variable-diameter revolving body, a plurality of air cavities (2) are arranged in parallel and are jointly arranged in the cylindrical shell (1), the outer wall of the closed end II (2-1) of the air cavity (2) is bonded with the inner wall of the closed end I (1-1) of the cylindrical shell (1), and the air cavities (2) are not in contact with the cylindrical shell (1) and the air cavities (2) at an initial state except for bonding positions;
the driving system comprises a pneumatic driver, the pneumatic driver is provided with a plurality of air charging pipelines, the air charging pipelines are respectively connected with the opening ends II (2-2) of the air cavities (2) one by one, and the opening end I (1-2) of the cylindrical shell (1) is connected with an air charging device in a sealing mode.
2. The fully flexible bionic pneumatic manipulator according to claim 1, which is characterized in that: the included angle between every two air cavities (2) is halved on the circumference.
3. The fully flexible bionic pneumatic manipulator according to claim 1 or 2, which is characterized in that: the air cavity (2) is distributed in the center of the inner space of the cylindrical shell (1).
4. The fully flexible bionic pneumatic manipulator according to claim 3, which is characterized in that: the adhesion between the air cavity (2) and the cylindrical shell (1) is realized by adopting silicon rubber as an adhesive.
5. The fully flexible bionic pneumatic manipulator according to claim 4, which is characterized in that: the flexible material for preparing the air cavity (2) and the cylindrical shell (1) is polydimethylsiloxane.
6. The fully flexible bionic pneumatic manipulator according to claim 1 or 2, which is characterized in that: the manipulator is composed of three manipulator units, and the three manipulator units are respectively arranged at the positions of three corners of an equilateral triangle.
7. The fully flexible bionic pneumatic manipulator according to claim 1 or 2, which is characterized in that: the manipulator is composed of four manipulator units, and the four manipulator units respectively occupy the positions of four corners of a square.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010265575.1A CN111452066A (en) | 2020-04-07 | 2020-04-07 | Full-flexible bionic pneumatic manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010265575.1A CN111452066A (en) | 2020-04-07 | 2020-04-07 | Full-flexible bionic pneumatic manipulator |
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| CN111452066A true CN111452066A (en) | 2020-07-28 |
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| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN112248011A (en) * | 2020-10-13 | 2021-01-22 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
| CN112405589A (en) * | 2020-10-28 | 2021-02-26 | 武汉科技大学 | Flexible driver based on corrugated pipe |
| CN112476413A (en) * | 2020-11-20 | 2021-03-12 | 华南理工大学 | Vacuum-driven actuator based on scissor mechanism |
| CN113246165A (en) * | 2021-06-09 | 2021-08-13 | 北京软体机器人科技有限公司 | Flexible driving clamp |
| WO2023020489A1 (en) * | 2021-08-17 | 2023-02-23 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
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