CN113232035A - Multi-joint rigid-flexible coupling bionic soft finger - Google Patents
Multi-joint rigid-flexible coupling bionic soft finger Download PDFInfo
- Publication number
- CN113232035A CN113232035A CN202110479981.2A CN202110479981A CN113232035A CN 113232035 A CN113232035 A CN 113232035A CN 202110479981 A CN202110479981 A CN 202110479981A CN 113232035 A CN113232035 A CN 113232035A
- Authority
- CN
- China
- Prior art keywords
- joint
- soft
- phalanx
- rigid
- soft joint
- 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.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 29
- 230000008878 coupling Effects 0.000 title claims abstract description 20
- 238000010168 coupling process Methods 0.000 title claims abstract description 20
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 20
- 238000007789 sealing Methods 0.000 claims abstract description 14
- 239000004744 fabric Substances 0.000 claims abstract description 7
- 239000000835 fiber Substances 0.000 claims abstract description 7
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 description 16
- 238000005452 bending Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000565 sealant Substances 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009699 differential effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Images
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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
Abstract
The invention relates to a multi-joint rigid-flexible coupling bionic soft finger which comprises a near phalanx soft joint, a middle phalanx soft joint, a far phalanx soft joint, a rigid sealing end cover, a near phalanx rigid connecting piece, an interphalangeal rigid connecting frame and rigid fingertips, wherein the near phalanx soft joint is independently controlled and internally provided with a plurality of first air cavities extending along the length direction of the near phalanx soft joint; the proximal phalanx rigid connecting piece is provided with an inflation inlet, the middle phalanx soft body joint is provided with a second air cavity, the distal phalanx soft body joint is provided with a third air cavity, and the inflation inlet is communicated with the second air cavity and the third air cavity; the middle phalanx soft joint and the far phalanx soft joint are respectively provided with a mesh cloth fiber strain limiting layer. The invention realizes that the soft fingers provide effective grabbing force when grabbing articles horizontally.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-joint rigid-flexible coupling bionic soft finger.
Background
With the continuous progress of industrial automation and the rise of intelligent manufacturing, higher requirements are put on the end gripper of the manufacturing equipment, especially for the safe clamping of irregular objects, fragile objects and small objects. In recent years, soft mechanical grippers are widely concerned by researchers at home and abroad, for example, a multi-degree-of-freedom moving finger disclosed in the publication number CN108466276A is different from a rigid mechanical gripper, and a soft gripper is mostly made of a flexible material, has good environmental adaptability, high flexibility and safe interaction, and is increasingly applied to the fields of industrial automation, intelligent manufacturing, life service and the like. The soft gripper is driven by soft media, such as pneumatic, hydraulic, rope, etc.; the pneumatic drive has the advantages of large output force, simple control, low requirement on external environment and the like, and is widely applied to the drive of the soft robot.
At present, the pure soft bionic finger mainly has the following problems:
(1) because the soft fingers are mostly made of soft materials such as silicon rubber and the like, when objects are transversely grabbed, the bearing capacity is weak, and the objects cannot be grabbed effectively;
(2) most of the pneumatic soft bionic fingers convert the overall bending motion into the arc motion with constant curvature, and compared with the real motion mode of human fingers, the pneumatic soft bionic fingers have great difference;
(3) the degree of freedom of the movement of the fingers is less, and the multi-degree of freedom movement of the fingers cannot be well controlled.
Therefore, how to improve the degree of freedom of the bionic soft finger motion, improve the finger motion mode and improve the bearing capacity of the soft finger becomes a difficult problem which needs to be solved urgently at present.
Disclosure of Invention
Based on the above-mentioned shortcomings and drawbacks of the prior art, it is an object of the present invention to at least solve one or more of the above-mentioned problems of the prior art, in other words, to provide a multi-joint rigid-flexible coupled bionic soft finger which satisfies one or more of the above-mentioned needs.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-joint rigid-flexible coupling bionic soft finger comprises a near phalanx soft joint, a middle phalanx soft joint, a far phalanx soft joint, a rigid sealing end cover, a near phalanx rigid connecting piece, an interphalangeal rigid connecting frame and rigid fingertips, wherein the near phalanx soft joint is independently controlled and internally provided with a plurality of first air cavities extending along the length direction of the near phalanx soft joint; the second end of the near phalanx soft joint is connected with one end of the middle phalanx soft joint through a near phalanx rigid connecting piece, the other end of the middle phalanx soft joint is connected with one end of the far phalanx soft joint through an interphalangeal rigid connecting frame, and the other end of the far phalanx soft joint is provided with a rigid fingertip;
the proximal phalanx rigid connecting piece is provided with an inflation inlet, the middle phalanx soft body joint is provided with a second air cavity, the distal phalanx soft body joint is provided with a third air cavity, the inflation inlet is communicated with the second air cavity, and the second air cavity is communicated with the third air cavity; the grabbing surfaces of the middle phalanx soft joint and the far phalanx soft joint are respectively provided with a mesh cloth fiber strain limiting layer.
Preferably, the number of the first air cavities is four, and the first air cavities are uniformly distributed along the inner circumference of the proximal phalanx soft joint.
Preferably, the middle finger bone soft body joint is of a half-corrugated pipe type structure, the second air cavity comprises first chambers matched with each corrugated structure one by one, and the first chambers are communicated through a first air channel extending along the axial direction of the middle finger bone soft body joint.
Preferably, the number of the corrugations of the middle finger bone soft joint is four.
Preferably, the distal phalangeal soft joint is of a half-corrugated tube structure, the third air chamber comprises second chambers matched with each corrugated structure one by one, and the second chambers are communicated with each other through a second air channel extending along the axial direction of the distal phalangeal soft joint.
Preferably, the number of the corrugations of the distal phalangeal soft joint is three.
Preferably, the interphalangeal rigid connecting frame comprises a main body part and inserting parts extending from two sides of the main body part, and the two inserting parts are respectively inserted into the middle phalanx soft joint and the distal phalanx soft joint and are hermetically mounted; the main body part and the insertion parts on the two sides of the main body part are provided with air inner cavities which are used for communicating the second air cavity with the third air cavity.
Preferably, the proximal phalanx soft joint is of a cylindrical structure, and the rigid sealing end cover and the proximal phalanx soft joint are coaxially mounted.
Preferably, the proximal phalanx soft joint, the middle phalanx soft joint and the distal phalanx soft joint are made of a super elastic material Dragon Skin 30.
Preferably, the rigid sealing end cover, the proximal phalanx rigid connecting piece, the interphalangeal rigid connecting frame and the rigid fingertips are made of ABS resin.
Compared with the prior art, the invention has the beneficial effects that:
the design of the mesh fabric fiber strain limiting layer enables the middle phalanx soft joint and the far phalanx soft joint to generate bending action, simultaneously improves the bearing capacity of the soft fingers, and realizes that the soft fingers provide effective grabbing force when grabbing objects horizontally; moreover, the near phalanx soft joint is independently controlled and is cooperated with the middle phalanx soft joint and the far phalanx soft joint, so that the real motion of the human finger can be simulated, the multi-degree-of-freedom bending is realized in the motion process, and the flexibility of the soft finger is improved.
Drawings
FIG. 1 is a schematic structural view of a multi-joint rigid-flexible coupled bionic soft finger according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a multi-joint rigid-flexible coupled bionic soft finger according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a soft proximal phalangeal joint according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a rigid proximal phalangeal connector according to an embodiment of the invention;
FIG. 5 is a schematic structural view of a middle finger soft joint according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a rigid interphalangeal connection in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of the flexion of the soft proximal phalangeal joint according to an embodiment of the invention;
FIG. 8 is a view showing the state of flexion of the middle phalangeal soft joint and the distal phalangeal soft joint according to the embodiment of the invention;
FIG. 9 is a flow chart of the process of the multi-joint rigid-flexible coupling bionic soft finger according to the embodiment of the present invention;
FIG. 10 is a diagram illustrating a process of a bending deformation state of a multi-joint rigid-flexible coupling bionic soft finger according to an embodiment of the present invention;
fig. 11 is a diagram of the bending deformation state of the multi-joint rigid-flexible coupling bionic soft finger in different pressure states according to the embodiment of the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
As shown in fig. 1-6, the multi-joint rigid-flexible coupling bionic soft finger according to the embodiment of the present invention includes a proximal phalanx soft joint 1, a middle phalanx soft joint 2, a distal phalanx soft joint 3, a rigid sealing end cap 4, a proximal phalanx rigid connecting member 5, an interphalangeal rigid connecting frame 6, and a rigid fingertip 7.
The proximal phalanx soft joint 1 is independently controlled to serve as an independent driving joint, a four-cavity cylinder structure with 90-degree equal sections is adopted, each cavity 10 serves as an air cavity, air pressure can be independently controlled, and multi-degree-of-freedom bending of the proximal phalanx soft joint is achieved. Wherein, the left end opening of each cavity is used as an air inflation port, and the right end is closed.
The rigid sealing end cover 4 is positioned at the left end of the proximal phalanx soft joint 1 and is coaxial with the proximal phalanx soft joint 1, and the rigid sealing end cover 4 and the proximal phalanx soft joint 1 are fixed through sealant, so that the rigid sealing end cover 4 and the proximal phalanx soft joint 1 are fixed. The rigid end cap 4 has air inlets 40 corresponding to the inflation ports of each chamber 10.
The middle finger bone soft joint 2 is of a half-corrugated pipe type structure, a second air cavity is arranged in the middle finger bone soft joint 2, and the left end of the middle finger bone soft joint 2 is provided with an air inlet 20 communicated with the second air cavity; the second air cavity comprises first cavities 21 matched with each corrugated structure one by one, and the first cavities are arranged at equal intervals; the first chambers are communicated with each other through a first gas channel 22 which extends along the axial direction of the bottom of the middle phalangeal soft joint. In the present embodiment, the number of the corrugations of the soft joint is four, but the number is not limited to four, and can be adjusted according to the actual application requirement.
The near phalanx rigid connecting piece 5 comprises a main body part 5a and connecting parts on two sides of the main body part, the connecting part in butt joint with the near phalanx soft joint 1 is of a circular structure, the connecting part in butt joint with the middle phalanx soft joint 2 is of a semicircular structure, the main body part is of a cylindrical structure, and a hollow gas channel is formed in the main body part; the main body part is provided with an inflation inlet 50 communicated with the outside, and the inflation inlet 50 is communicated with the second air cavity of the middle finger soft body joint 2 through a hollow air channel. The right end of the middle phalanx soft body joint 2 is provided with an air outlet 23 communicated with the hollow air channel of the near phalanx rigid connecting piece 5.
The far phalanx soft joint 3 is of a half-corrugated pipe type structure, a third air cavity is arranged in the far phalanx soft joint 3, the left end of the far phalanx soft joint 3 is provided with an air inlet 30 communicated with the third air cavity, and the air inlet 30 is communicated with a hollow air channel of the near phalanx rigid connecting piece 5; the third air cavity comprises second cavities 31 matched with each corrugated structure one by one, and the second cavities are arranged at equal intervals; the second chambers are communicated with each other through a second gas channel 32 extending along the axial direction of the bottom of the distal phalangeal soft joint. The number of the corrugations of the distal phalangeal soft joint of the present embodiment is three, but the number is not limited to three, and can be adjusted according to the actual application requirements.
The interphalangeal rigid connecting frame 6 comprises a main body part and inserting parts extending from two sides of the main body part, and the two inserting parts are respectively inserted with the middle phalanx soft joint 2 and the distal phalanx soft joint 3 and are hermetically installed; specifically, the left end of the rigid interphalangeal connection frame is provided with an insertion part 61 with a semi-cylindrical boss, the right end of the rigid interphalangeal connection frame is provided with an insertion part 62 with a semi-cylindrical boss, the left end of the soft joint far away from the phalanx is provided with a groove for embedding the boss, and the insertion part 62 and the groove are fixed through sealant after being inserted into the groove, so that the rigid interphalangeal connection frame is fixedly connected with the soft joint far away from the phalanx; the right end of the middle phalanx soft joint is provided with a groove, and when the insertion part 61 is inserted into the groove, the middle phalanx soft joint and the insertion part are fixed through sealant, so that the fixed connection between the interphalangeal rigid connecting frame and the middle phalanx soft joint is realized. In addition, the main body part of the interphalangeal rigid connecting frame 6 and the insertion parts at the two sides of the main body part are provided with an air inner cavity 60 which is used for communicating the second air cavity with the third air cavity, so that the middle phalanx soft joint and the distal phalanx soft joint adopt the same cavity channel for air delivery.
In addition, the grabbing surfaces of the middle phalanx soft joint 2 and the far phalanx soft joint 3 are respectively embedded with a grid cloth fiber strain limiting layer A, so that the middle phalanx soft joint and the far phalanx soft joint generate bending action, and the bearing capacity of the soft finger is improved. When the middle finger bone soft joint 2 and the far finger bone soft joint 3 work, an external air source is connected with the inflation inlet 50 of the near finger bone rigid connecting piece, pressure air is introduced through the air pump, and the middle finger bone soft joint 2 and the far finger bone soft joint 3 generate bending motion by virtue of the differential effect between the grid cloth fiber strain limiting layer A and the second air cavity and the third air cavity, so that the grabbing action of the soft finger is realized, and the finger can generate articulated bending action as shown in figures 8-10.
The proximal phalanx soft joint 1, the middle phalanx soft joint 2 and the distal phalanx soft joint 3 are prepared from a super-elastic material Dragon Skin 30, four air cavities of the proximal phalanx soft joint can be respectively and independently inflated, and the principle is shown in figure 7, after positive pressure load is inflated into a single air cavity, the proximal phalanx soft joint moves in the opposite direction. Under the combination of different pressures in the air cavity, the omnidirectional bending motion of the soft finger can be realized.
As shown in fig. 9, the preparation process of the multi-joint rigid-flexible coupled bionic soft finger according to the embodiment of the present invention mainly comprises the following steps:
(1) preparing middle phalanx soft joint (middle phalanx joint for short) and distal phalanx soft joint (distal phalanx joint for short);
(2) preparing a soft proximal phalanx joint (short for proximal phalanx joint);
(3) 3D printing of the connecting framework;
(4) assembling the bionic soft finger.
The method comprises the following specific steps: each joint air cavity mold was first 3D printed, and then the E620A silicone rubber A, B liquid was mixed at a rate of 1: 1, placing the mixture in a vacuum defoaming machine to remove residual bubbles, slowly pouring the prepared silica gel solution into each air cavity mold, and standing for 4 hours at room temperature; after demolding, sealing the middle phalanx soft joint and the distal phalanx soft joint, and embedding a grid cloth fiber strain limiting layer on the lower surfaces of the middle phalanx soft joint and the distal phalanx soft joint to limit axial extension; the rigid sealing end cover, the near phalanx rigid connecting piece, the interphalangeal rigid connecting frame and the rigid fingertips are all formed by 3D printing of ABS resin materials, and the device has the advantages of light weight, good connectivity, high strength and the like.
The working process of the multi-joint rigid-flexible coupling bionic soft finger provided by the embodiment of the invention is as follows:
an external air source is connected with four air inlets of the rigid sealing end cover, pressure is connected through an air pump, unidirectional bending can be generated on the soft joint of the proximal phalanx through the single-cavity connection pressure and the pressure difference effect in the soft joint of the proximal phalanx, and the 90-degree bending effect of the soft joint of the proximal phalanx is realized through the pressure combination in two cavities. The combination of the pressure differences in any three cavities realizes the omnidirectional bending action of the soft finger, as shown in fig. 10 and 11.
Specifically, when an article is grabbed, firstly, the soft finger is enabled to incline towards the article to be grabbed by corresponding pressure combination towards the inside of the soft knuckle finger close to the phalanx; and then, extracting the gas in the second gas cavity and the third gas cavity outwards to enable the upper parts of the middle finger bone soft joint and the distal finger bone soft joint to move outwards simultaneously, namely, to open, when the pre-grabbed object is pressed close, introducing pressure gas into the second gas cavity and the third gas cavity, enabling the middle finger bone soft joint and the distal finger bone soft joint to start to expand and deform, and enabling the upper parts to move inwards simultaneously to grab the object, moving to the appointed position, then extracting the gas in the second gas cavity and the third gas cavity outwards again to enable the grabbed object to fall off, and releasing the gas pressure in the proximal finger bone joint soft finger to enable the soft finger to recover the original shape.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (10)
1. A multi-joint rigid-flexible coupling bionic soft finger is characterized by comprising a near-phalangeal soft joint, a middle-phalangeal soft joint, a far-phalangeal soft joint, rigid sealing end covers, a near-phalangeal rigid connecting piece, an interphalangeal rigid connecting frame and rigid fingertips, wherein the near-phalangeal soft joint is independently controlled and internally provided with a plurality of first air cavities extending along the length direction of the near-phalangeal soft joint; the second end of the near phalanx soft joint is connected with one end of the middle phalanx soft joint through a near phalanx rigid connecting piece, the other end of the middle phalanx soft joint is connected with one end of the far phalanx soft joint through an interphalangeal rigid connecting frame, and the other end of the far phalanx soft joint is provided with a rigid fingertip;
the proximal phalanx rigid connecting piece is provided with an inflation inlet, the middle phalanx soft body joint is provided with a second air cavity, the distal phalanx soft body joint is provided with a third air cavity, the inflation inlet is communicated with the second air cavity, and the second air cavity is communicated with the third air cavity; the grabbing surfaces of the middle phalanx soft joint and the far phalanx soft joint are respectively provided with a mesh cloth fiber strain limiting layer.
2. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the number of the first air chambers is four, and the four first air chambers are uniformly distributed along the inner circumference of the soft joint of the proximal phalanx.
3. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the middle phalanx soft joint is of a half-corrugated tube structure, the second air chamber comprises first chambers matched with each corrugated structure one by one, and the first chambers are communicated with each other through a first air channel extending along the axial direction of the middle phalanx soft joint.
4. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 3, wherein the number of the corrugations of the middle phalangeal soft joint is four.
5. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the distal phalanx soft joint is of a half-corrugated tube structure, the third air chamber comprises a second air chamber matched with each corrugated structure, and the second air chambers are communicated with each other through a second air channel extending along the axial direction of the distal phalanx soft joint.
6. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 5, wherein the number of the corrugations of the far phalangeal soft joint is three.
7. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the interphalangeal rigid connection frame comprises a main body part and insertion parts extending from two sides of the main body part, and the two insertion parts are respectively inserted into the middle phalanx soft joint and the distal phalanx soft joint and are hermetically mounted; the main body part and the insertion parts on the two sides of the main body part are provided with air inner cavities which are used for communicating the second air cavity with the third air cavity.
8. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the proximal phalanx soft joint is of a cylindrical structure, and the rigid sealing end cap is coaxially mounted with the proximal phalanx soft joint.
9. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the material of the proximal phalanx soft joint, the middle phalanx soft joint and the distal phalanx soft joint is a super elastic material Dragon Skin 30.
10. The multi-joint rigid-flexible coupling bionic soft finger as claimed in claim 1, wherein the rigid sealing end cap, the near phalanx rigid connecting piece, the interphalangeal rigid connecting frame and the rigid fingertip are made of ABS resin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110479981.2A CN113232035A (en) | 2021-04-30 | 2021-04-30 | Multi-joint rigid-flexible coupling bionic soft finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110479981.2A CN113232035A (en) | 2021-04-30 | 2021-04-30 | Multi-joint rigid-flexible coupling bionic soft finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113232035A true CN113232035A (en) | 2021-08-10 |
Family
ID=77131608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110479981.2A Pending CN113232035A (en) | 2021-04-30 | 2021-04-30 | Multi-joint rigid-flexible coupling bionic soft finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113232035A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733152A (en) * | 2021-09-17 | 2021-12-03 | 南京航空航天大学 | Pneumatic soft mechanical arm |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN114083556A (en) * | 2021-10-25 | 2022-02-25 | 哈尔滨工业大学 | Rigid-flexible mixed finger, finger mold and manufacturing method of finger |
| CN114474115A (en) * | 2022-01-28 | 2022-05-13 | 西安交通大学 | Rigid-flexible coupling bionic finger and clamping jaw |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108638100A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | It is a kind of flexibility Apery manipulator refer to |
| CN110772402A (en) * | 2019-12-04 | 2020-02-11 | 大连理工大学 | Rigid-flexible combined pneumatic wearable finger rehabilitation device and manufacturing method thereof |
| CN111906763A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Teleoperation flexible bionic hand with posture monitoring and touch feedback functions |
| CN112549055A (en) * | 2020-12-04 | 2021-03-26 | 合肥工业大学 | Humanoid pneumatic type soft robot finger |
-
2021
- 2021-04-30 CN CN202110479981.2A patent/CN113232035A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108638100A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | It is a kind of flexibility Apery manipulator refer to |
| CN110772402A (en) * | 2019-12-04 | 2020-02-11 | 大连理工大学 | Rigid-flexible combined pneumatic wearable finger rehabilitation device and manufacturing method thereof |
| CN111906763A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Teleoperation flexible bionic hand with posture monitoring and touch feedback functions |
| CN112549055A (en) * | 2020-12-04 | 2021-03-26 | 合肥工业大学 | Humanoid pneumatic type soft robot finger |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733152A (en) * | 2021-09-17 | 2021-12-03 | 南京航空航天大学 | Pneumatic soft mechanical arm |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN113799159B (en) * | 2021-09-27 | 2023-03-14 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN114083556A (en) * | 2021-10-25 | 2022-02-25 | 哈尔滨工业大学 | Rigid-flexible mixed finger, finger mold and manufacturing method of finger |
| CN114474115A (en) * | 2022-01-28 | 2022-05-13 | 西安交通大学 | Rigid-flexible coupling bionic finger and clamping jaw |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113232035A (en) | Multi-joint rigid-flexible coupling bionic soft finger | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN105818143A (en) | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping | |
| CN108161929B (en) | Negative pressure driven pneumatic artificial muscle | |
| CN111300459B (en) | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof | |
| CN104015197A (en) | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| CN111571623A (en) | Variable-rigidity pneumatic soft gripper | |
| CN112549055A (en) | Humanoid pneumatic type soft robot finger | |
| CN107498538A (en) | A kind of high-adaptability it is new from deformation module soft robot | |
| CN108527326A (en) | A kind of silica gel soft robot | |
| CN112828870A (en) | Pneumatic soft robot for pipeline | |
| CN112914957A (en) | Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function | |
| CN111687867A (en) | Soft mechanical arm with active rigidity changing function | |
| CN107650119A (en) | The soft handgrip of intelligence | |
| CN113771069B (en) | Soft gripping device with adjustable gripping range and controllable rigidity and manufacturing method | |
| CN113427469A (en) | Variable-rigidity software actuator system and control method | |
| CN111975807B (en) | Pneumatic control soft bionic manipulator | |
| Jiao et al. | Design and fabrication of long soft-robotic elastomeric actuator inspired by octopus arm | |
| CN210650686U (en) | Flexible backbone of quadruped robot based on pneumatic muscle | |
| Wang et al. | A novel design of soft robotic hand with a human-inspired soft palm for dexterous grasping | |
| CN214643614U (en) | Pneumatic soft robot for pipeline | |
| CN113967922B (en) | Full-flexible pneumatic soft bionic manipulator | |
| CN115122314A (en) | Multi-deformation-mode software driver | |
| CN115256431A (en) | Flexible operation manipulator based on bending artificial muscle and grabbing method thereof |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210810 |