CN113681581B - High-speed response soft finger - Google Patents
High-speed response soft finger Download PDFInfo
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- CN113681581B CN113681581B CN202110962251.8A CN202110962251A CN113681581B CN 113681581 B CN113681581 B CN 113681581B CN 202110962251 A CN202110962251 A CN 202110962251A CN 113681581 B CN113681581 B CN 113681581B
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a high-speed response soft finger. The finger matrix is provided with at least one elastic response structure along the length direction, the elastic response structure comprises an inflation cavity, trigger blocks and elastic ropes, the inflation cavity, trigger blocks and elastic ropes are arranged in the finger matrix, V-shaped grooves are formed in the finger web surfaces of the finger matrix at two sides of the inflation cavity, the finger matrix parts at two ends of each V-shaped groove along the length direction are elastically connected through the elastic ropes, the elastic ropes are stretched and tensioned all the time, and the two trigger blocks are oppositely arranged in the inflation cavity close to one side of the finger web of the finger matrix; the inflatable chambers of the elastic response structures are connected in series through channels in the finger matrix, and the inflatable chambers located at the roots of the finger matrix are communicated with an external inflatable device. The invention uses the jump action of bistable structure to act rapidly under the prestretching stress, and simultaneously generates directional movement by cooperating with air drive, so as to improve the response speed of soft fingers and realize repeatable rapid passive grabbing action.
Description
Technical Field
The invention relates to a software executor, in particular to a high-speed response software finger.
Background
The soft paw is taken as a typical representative of a soft robot and is widely paid attention to researchers at home and abroad.
The soft paw is generally made of soft materials capable of bearing large strains, has larger flexibility and continuous deformation capacity, has stronger environmental adaptability, and has great application prospect in complex fragile object gripping and other applications.
The soft gripper can generally adopt different driving modes according to actual use conditions, including a gas driving mode, a wire driving mode, a dielectric elastomer driving mode, a shape memory alloy driving mode and the like. The gas-driven soft paw has the advantages of good flexibility, simple control and the like, but has the defect of low grabbing response speed.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a high-speed response soft finger and a paw, which utilize the structural instability to rapidly act under the prestretching stress and simultaneously cooperate with air driving to generate directional movement so as to improve the response speed of the soft finger and realize repeatable rapid passive grabbing action.
The technical scheme adopted by the invention is as follows:
comprises a plurality of soft fingers and a base; the soft finger is strip-shaped and comprises a finger base body and a finger bottom plate, wherein the finger base body is fixed on the finger bottom plate; the finger matrix is provided with at least one elastic response structure at intervals along the length direction, the structures of the elastic response structures are the same and the sizes of the elastic response structures are the same, the elastic response structure comprises an inflation cavity, trigger blocks and elastic ropes, the abdomen surfaces of the finger matrix positioned at the two sides of the inflation cavity are provided with V-shaped grooves, the V-shaped openings of the V-shaped grooves face one side of the abdomen of the finger matrix, the V-shaped grooves are equivalent to joints of fingers, the finger matrix parts at the two ends of each V-shaped groove along the length direction are elastically connected through the elastic ropes, the elastic ropes are stretched and tensioned all the time, the two trigger blocks are oppositely arranged in the inflation cavity at one side of the inflation cavity close to the abdomen of the finger matrix, the two trigger block supports are arranged between the cavity walls at the two sides of the inflation cavity, and one part of each trigger block penetrates out of the inflation cavity to be used for contacting with external objects after penetrating out of the surface close to one side of the abdomen of the finger matrix; the inflatable cavities of the elastic response structures are connected in series through channels in the finger matrix, the inflatable cavities located at the finger roots of the finger matrix are communicated with an external inflatable device, the finger matrix is provided with flexible bulge structures on the finger web surfaces without the inflatable cavities, and the top surfaces of the flexible bulge structures are planes for increasing grabbing friction force.
In the elastic response structure, strip-shaped through grooves are formed in the finger substrates at two ends of the V-shaped groove along the length direction, the strip-shaped through grooves are arranged along the direction perpendicular to the length direction and penetrate through two sides of the finger substrates, a single elastic rope fixing buckle is arranged in each strip-shaped through groove, rope hooks are arranged at two end parts of each single elastic rope fixing buckle, and an elastic rope is connected between the rope hooks at the end parts of the two single elastic rope fixing buckles at the same side of the finger substrates; two strip-shaped through grooves at the adjacent positions between two adjacent elastic response structures are communicated with each other, and single elastic rope fixing buckles in the two strip-shaped through grooves are fixedly connected into a whole to form a combined elastic rope fixing buckle; the elastic response structure is positioned at the position of the finger base fingertip/finger root, and the strip-shaped through groove at one side close to the finger base fingertip/finger root is replaced by strip-shaped sinking grooves arranged on the finger base fingertip end face and the finger root end face.
The V-shaped opening of the V-shaped notch is provided with a plurality of elastic rope through holes penetrating through the finger matrix in the direction of the finger length, the elastic rope through holes are communicated with two strip-shaped through grooves or strip-shaped sinking grooves at the adjacent positions between the adjacent elastic response structures, the elastic rope through holes, the strip-shaped sinking grooves and the strip-shaped through grooves are on the same plane, the stretched elastic ropes are hung on every two adjacent rope hooks, and each section of elastic rope penetrates through the elastic rope through holes to realize hanging arrangement.
The finger matrix is of a long block structure, a square groove is formed in the back face of the finger, the square groove penetrates through the back face of the finger, and is arranged on the surface, close to one side of the finger abdomen of the finger matrix, of the square groove, and is a concave surface which is convenient to bend; the special-shaped convex structure is fixedly arranged on the finger web surface of the finger bottom plate, the center of the special-shaped convex structure is concave, the special-shaped convex structure is convenient to match with finger bending, the special-shaped convex structure can not block the channel inside the finger matrix, the special-shaped convex structure is embedded in the square groove and is assembled with the square groove in a sealing fit manner, and the inner space of the square groove is formed to be used as an air filling cavity.
The inflatable cavity is characterized in that the cavity wall close to one side of the finger abdomen of the finger matrix is arched in a normal state, the two trigger blocks are triangular blocks with isosceles triangle sections, the faces of the bottom edges of the isosceles triangles of the two trigger blocks are opposite to and closely contact with each other, the face of one side waist of the isosceles triangle of the two trigger blocks is closely contacted with the cavity wall face of the inflatable cavity close to one side of the finger abdomen of the finger matrix, and the arched shape and the size of the inflatable cavity formed by combining the faces of the one side waist of the isosceles triangle of the two trigger blocks are identical in size close to the cavity wall of the finger abdomen of the finger matrix.
Two counter bores are formed in the finger web surface at the finger root of the finger matrix, and the counter bores are used for installing screws in a threaded manner; the finger base body is provided with two fixing holes at the end face of the finger root, and the fixing holes are used for movably inserting a bolt fixed on the base; the inner end of the fixing hole is communicated with the inner end of the counter bore, and the bolt is inserted into the fixing hole, screwed into the counter bore through threads and pressed on the surface of the bolt, so that the bolt is axially fixed in the fixing hole.
The surface of the inflatable cavity, which is close to one side of the finger abdomen of the finger matrix, is provided with a round hole, a columnar structure is fixed on the trigger block, and the columnar structure stretches out after passing through the round hole and is used for contacting an external object.
The finger base body is provided with an air duct on the end face of the finger root, the air inflation cavity positioned on the finger base body is communicated with the air duct, and the air duct is connected to an external air inflation device through a base through a pipeline, so that the air inflation device inflates the air inflation cavity through the air duct.
The finger matrix and the finger bottom plate are made of Hei-Cast 8400 material, and are prepared by adopting a silica gel reverse mode.
The soft finger and the base are characterized in that the finger root of the soft finger is fixed on the base, and a plurality of soft fingers are arranged in a non-parallel way to form a paw shape.
The beneficial effects of the invention are as follows:
the invention provides a high-speed response soft finger and paw, which can realize repeatable and rapid passive grabbing action by utilizing structural instability.
Drawings
FIG. 1 is a schematic view of the structure of a soft finger;
FIG. 2 is a schematic view of a cut-away structure of a soft finger;
FIG. 3 is a schematic diagram of the structure of a trigger block;
FIG. 4 is a schematic view of the structure of a finger base;
FIG. 5 is a schematic view of a cut-away structure of a finger base;
FIG. 6 is a schematic view of a soft finger pad structure;
FIG. 7 is a schematic structural view of a single elastic cord securing clasp;
FIG. 8 is a schematic structural view of a synthetic elastic cord fastener;
FIG. 9 is a schematic diagram of the software gripper structure of a combination of two high-speed responsive software grippers;
FIG. 10 is a schematic view of the structure of a soft finger in a normal state and a bent state;
in the figure: 1. finger matrix, 2, finger bottom plate, 3, trigger piece, 4, elastic rope, 5, monomer elastic rope is fixed detains, 6, the fixed knot of body elastic rope, 7, V-arrangement recess, 8, inflatable chamber, 9, the air duct, 10, fixed orifices, 11, counter bore, 12, flexible protruding structure, 13, columnar structure, 14, round hole, 15, elastic rope through-hole, 16, bar sinking groove, 17, bar logical groove, 18, square groove, 19, dysmorphism protruding structure, 20, rope hook, 21, base.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1, 2, 4 and 5, the soft finger is in a strip shape and comprises a finger base body 1 and a finger bottom plate 2, wherein the finger base body 1 is fixed on the finger bottom plate 2, two counter bores 11 are formed in the ventral surface of the finger root of the finger base body 1, and the counter bores 11 are used for installing screws in a threaded manner; the finger base body 1 is provided with two fixing holes 10 on the end face of the finger root, the inner ends of the fixing holes 10 are communicated with the inner ends of the counter bores 11, bolts are inserted into the fixing holes 10 and then screwed into the counter bores 11 through threads to be pressed on the surfaces of the bolts, so that the bolts are axially fixed in the fixing holes 10, and flexible materials adopted by the finger base body 1 and the finger bottom plate 2 are Hei-Cast 8400 materials;
the finger matrix 1 is provided with at least one elastic response structure at intervals along the length direction, the structures of the elastic response structures are the same and the sizes are the same, the elastic response structure comprises an inflation cavity 8, a trigger block 3 and an elastic rope 4 which are arranged in the finger matrix 1, the abdomen surfaces of the finger matrix 1 positioned at two sides of the inflation cavity 8 are provided with V-shaped openings of V-shaped grooves 7,V, the V-shaped openings of the V-shaped grooves 7 face one side of the abdomen of the finger matrix 1, the V-shaped grooves 9 are equivalent to joints of fingers, the positions of the finger matrix 1 at two ends of each V-shaped groove 7 along the length direction are elastically connected through the elastic rope 4, and the elastic rope 4 is stretched and tensioned all the time;
the finger matrix 1 is of a long block structure, a square groove 18 is formed in the back face of the finger matrix 1, the square groove 18 penetrates through the back face of the finger matrix 1 and is arranged on the back face of the finger, and the surface, close to the abdomen side of the finger matrix 1, of the square groove 18 is provided with an inner concave surface for being convenient to bend; the special-shaped bulge structure 19 is embedded in the square groove 18 and is assembled with the square groove 18 in a sealing fit manner, so that an inner space of the square groove 18 is used as an air inflation cavity 8, two trigger blocks 3 are oppositely arranged in the air inflation cavity 8 on one side of the air inflation cavity 8 close to the finger belly of the finger matrix 1, the two trigger blocks 3 are supported and arranged between two cavity walls on two sides of the air inflation cavity 8, and one part of each trigger block 3 penetrates out of the air inflation cavity 8 and is used for contacting an external object after approaching to the surface on one side of the finger belly of the finger matrix 1; the inflatable chambers 8 of the elastic response structures are connected in series through channels in the finger matrix 1, the inflatable chambers 8 positioned at the roots of the fingers of the finger matrix 1 are communicated with an external inflatable device, the end faces of the roots of the fingers of the finger matrix 1 are provided with air ducts 9, the inflatable chambers 8 positioned at the roots of the fingers of the finger matrix 1 are communicated with the air ducts 9, the finger matrix 1 is provided with flexible bulge structures 12 on the web surfaces without the inflatable chambers 8, and the top surfaces of the flexible bulge structures 12 are plane and are used for increasing grabbing friction force; the cavity wall close to the finger belly side of the finger matrix 1 is arched in a normal state of the air inflation cavity 8, the surfaces of the bottom edges of the isosceles triangles of the two trigger blocks 3 are in close contact, the surfaces of the side waists of the isosceles triangles of the two trigger blocks 3 are in close contact with the cavity wall surface of the air inflation cavity 8 close to the finger belly side of the finger matrix 1, so that the arched shape and the size of the cavity wall of the air inflation cavity 8 formed by combining the surfaces of the side waists of the isosceles triangles of the two trigger blocks 3 are identical in size, the surface of the air inflation cavity 8 close to the finger belly side of the finger matrix 1 is provided with a round hole 14, the columnar structure 13 extends out after passing through the round hole 14 and is used for contacting an external object, and the finger matrix 1, the finger bottom plate 2 and the trigger blocks 3 are prepared in a silica gel reverse mode;
in the elastic response structure, strip-shaped through grooves 17 are formed in the finger base body 1 at two ends of the V-shaped groove 7 along the length direction, the strip-shaped through grooves 17 are arranged along the direction perpendicular to the length direction and penetrate through two sides of the finger base body 1, a single elastic rope fixing buckle 5 is arranged in the strip-shaped through grooves 17, and an elastic rope 4 is connected between rope hooks 20 at the end parts of the two single elastic rope fixing buckles 5 at the same side of the finger base body 1; two strip-shaped through grooves 17 at the adjacent positions between two adjacent elastic response structures are communicated with each other, and single elastic rope fixing buckles 5 in the two strip-shaped through grooves 17 are fixedly connected into a whole to form a combined elastic rope fixing buckle 6; the elastic response structure is positioned at the position of the finger tip/finger root of the finger matrix 1, the strip-shaped through groove 17 at one side close to the finger tip/finger root of the finger matrix 1 is replaced by the strip-shaped sunk groove 16 arranged on the end face of the finger tip of the finger matrix 1 and the end face of the finger root, the V-shaped opening of the V-shaped groove 7 is provided with a plurality of elastic rope through holes 15 penetrating through the finger matrix 1 in the length direction, the elastic rope through holes 15 are communicated with two strip-shaped through grooves 17 or strip-shaped sunk grooves 16 at the adjacent position between the adjacent elastic response structures, the elastic rope through holes 15, the strip-shaped sunk grooves 16 and the strip-shaped through grooves 17 are on the same plane, the stretched elastic ropes 4 are hung on every two adjacent rope hooks 20, and each section of elastic rope 4 passes through the elastic rope through holes 15 to realize hanging arrangement.
As shown in fig. 3, the trigger block 3 is a triangular block with isosceles triangle cross section, and the trigger block 3 is fixed with a columnar structure 13.
As shown in FIG. 6, a schematic structure of the soft finger bottom plate 2 is shown, the abdomen surface of the finger bottom plate 2 is fixedly provided with a special-shaped protruding structure 19, the center of the special-shaped protruding structure 19 is concave, the special-shaped protruding structure is convenient to be matched with the bending of a finger, and the special-shaped protruding structure 19 cannot block the channel inside the finger base body 1.
As shown in fig. 7, a schematic structural diagram of the single elastic rope fixing buckle 5 is shown, and rope hooks 20 are provided at both end portions of the single elastic rope fixing buckle 5.
As shown in fig. 8, the structure of the elastic rope fastening buckle 6 is schematically shown, and the elastic rope fastening buckle 5 is integrally connected to form the elastic rope fastening buckle 6.
As shown in FIG. 9, a schematic diagram of a soft gripper structure combining two high-speed response soft grippers comprises two soft fingers and a base 21, wherein a fixing hole 10 is used for movably inserting a bolt fixed on the base 21, the roots of the soft fingers are fixed on the base 21, the two soft fingers are in non-parallel arrangement to form a gripper shape, an air duct 9 is connected to an external air charging device through the base 21 through the pipe, and the air charging device charges air into an air charging cavity 8 through the air duct 9.
As shown in fig. 10, the structure of the soft finger in the normal state and the bending state is schematically shown, in the initial state, the finger base body 1 is in a straightened state, at this time, the trigger blocks 3 are in close contact with each other, when the trigger blocks 3 contact with an external object, the trigger blocks 3 are pushed, the trigger blocks 3 no longer keep the close contact state, the trigger blocks 3 are pushed into the air cavity 8, so that the air cavity 8 is compressed under the action of the elastic force of the elastic rope 4, the V-shaped groove 7 is compressed and pressed close, bending motion is generated, and rapid passive bending of the finger base body 1 is realized.
Embodiments of the invention are as follows:
in actual work, the finger roots of the soft fingers are fixed on the base 21, the soft fingers are arranged in a non-parallel mode to form a paw shape, and the air duct 9 is connected to an external air charging device through the base 21, so that the air charging device charges air into the air charging cavity 8 through the air duct 9;
in the initial state, the finger matrix 1 is in a straightened state, the air charging cavity 8 is not inflated and is communicated with the external atmosphere, at the moment, the trigger blocks 3 are in close contact, when an external object contacts the trigger blocks 3, the trigger blocks 3 are pushed, the trigger blocks 3 are not kept in close contact, the trigger blocks 3 are pushed into the air charging cavity 8, the air cavity 8 is compressed, the special-shaped raised structures 19 and the V-shaped grooves 7 are bent under the action of the elastic force of the elastic ropes 4, the finger matrixes 1 are rapidly and passively bent, the soft claws are in a state of holding the external object, and the action of grabbing the object is completed;
when the finger matrix 1 is required to straighten so that the soft paw loosens the object, the inflatable device is used for inflating the inflatable cavity 8 through the air duct 9, the inflatable cavity 8 bulges so that the trigger blocks 3 are in close contact again, the finger matrix 1 is restored to the straightened state again, and therefore the soft paw loosens the object, and next grabbing is completed repeatedly.
Claims (10)
1. A high-speed response soft finger, characterized in that: the soft finger is strip-shaped and comprises a finger base body (1) and a finger bottom plate (2), wherein the finger base body (1) is fixed on the finger bottom plate (2); the finger matrix (1) is provided with at least one elastic response structure along the length direction, the elastic response structure comprises an inflation cavity (8) formed in the finger matrix (1), trigger blocks (3) and elastic ropes (4), V-shaped grooves (7) are formed in the abdomen surfaces of the finger matrix (1) located on two sides of the inflation cavity (8), the positions of the finger matrix (1) at two ends of each V-shaped groove (7) along the length direction are elastically connected through the elastic ropes (4), the elastic ropes (4) are stretched and tensioned all the time, the two trigger blocks (3) are oppositely arranged in the inflation cavity (8) on one side, close to the abdomen of the finger matrix (1), the two trigger blocks (3) are supported and arranged between the cavity walls on two sides of the inflation cavity (8), one part of each trigger block (3) penetrates out of the inflation cavity (8) and is used for contacting an external object after being close to the surface on one side of the abdomen of the finger matrix (1); the inflatable cavities (8) of the elastic response structures are connected in series through channels inside the finger matrix (1), the inflatable cavities (8) located at the finger roots of the finger matrix (1) are communicated with an external inflatable device, and the finger matrix (1) is provided with flexible bulge structures (12) on the finger web surface without the inflatable cavities (8).
2. A high speed response soft finger as defined in claim 1, wherein: in the elastic response structure, strip-shaped through grooves (17) are formed in the finger base body (1) at two ends of the V-shaped groove (7) along the direction of the finger length, the strip-shaped through grooves (17) are arranged along the direction perpendicular to the direction of the finger length, a single elastic rope fixing buckle (5) is arranged in each strip-shaped through groove (17), rope hooks (20) are arranged at two end parts of the single elastic rope fixing buckle (5), and an elastic rope (4) is connected between the rope hooks (20) at the end parts of the two single elastic rope fixing buckles (5) at the same side of the finger base body (1); two strip-shaped through grooves (17) at the adjacent positions between two adjacent elastic response structures are communicated with each other, and single elastic rope fixing buckles (5) in the two strip-shaped through grooves (17) are fixedly connected into a whole to form a combined elastic rope fixing buckle (6); the elastic response structure at the position of the finger tip/finger root of the finger matrix (1) is characterized in that the elastic response structure is replaced by a strip-shaped sinking groove (16) arranged on the end face of the finger tip and the end face of the finger root of the finger matrix (1) at a strip-shaped through groove (17) close to one side of the finger tip/finger root of the finger matrix (1).
3. A high speed response soft finger according to claim 1 or 2, characterized in that: the V-shaped opening of the V-shaped groove (7) is provided with a plurality of elastic rope through holes (15) penetrating through the finger matrix (1) in the direction of length, the elastic rope through holes (15) are communicated with two strip-shaped through grooves (17) or strip-shaped sinking grooves (16) at the adjacent positions between adjacent elastic response structures, the stretched elastic ropes (4) are hung on every two adjacent rope hooks (20), and each section of elastic rope (4) passes through the elastic rope through holes (15) to realize hanging arrangement.
4. A high speed response soft finger as defined in claim 1, wherein: the finger back of the finger matrix (1) is provided with a square groove (18), and the surface of the square groove (18) close to one side of the finger abdomen of the finger matrix (1) is provided with an inner concave surface; the finger bottom plate (2) is fixedly provided with a special-shaped protruding structure (19) on the finger web surface, the special-shaped protruding structure (19) is embedded in the square groove (18) and is assembled with the square groove (18) in a sealing fit manner, so that the inner space of the square groove (18) is used as the air filling cavity (8).
5. A high speed response soft finger as defined in claim 1, wherein: the inflatable cavity (8) is in an arch shape at the cavity wall close to one side of the finger belly of the finger matrix (1) in a normal state, the two triggering blocks (3) are triangular blocks with isosceles triangle sections, the faces where the bottom edges of the isosceles triangles of the two triggering blocks (3) are located are opposite to be in close contact, and the faces where one side waist of the isosceles triangles of the two triggering blocks (3) is located are in close contact with the cavity wall face of the inflatable cavity (8) close to one side of the finger belly of the finger matrix (1).
6. A high speed response soft finger as defined in claim 1, wherein: the finger base body (1) is provided with a counter bore (11) on the finger web surface at the finger root, and the counter bore (11) is used for installing a screw through threads; the finger base body (1) is provided with a fixing hole (10) at the end face of the finger root, and the fixing hole (10) is used for movably inserting a bolt fixed on the base (21); the inner end of the fixing hole (10) is communicated with the inner end of the counter bore (11), and after the bolt is inserted into the fixing hole (10), the bolt is screwed into the counter bore (11) through threads and is pressed on the surface of the bolt, so that the bolt is axially fixed in the fixing hole (10).
7. A high speed response soft finger as defined in claim 1, wherein: the inflatable cavity (8) is provided with a round hole (14) on the surface close to one side of the finger abdomen of the finger matrix (1), the trigger block (3) is fixedly provided with a columnar structure (13), and the columnar structure (13) stretches out after passing through the round hole (14) and is used for contacting an external object.
8. A high speed response soft finger as defined in claim 5, wherein: the finger matrix (1) is provided with an air duct (9) on the end face of the finger root, an air inflation cavity (8) positioned on the finger matrix (1) and the air duct (9) are communicated, and the air duct (9) is connected to an external air inflation device through a base (21) through a pipeline, so that the air inflation device inflates the air inflation cavity (8) through the air duct (9).
9. A high speed response soft finger as defined in claim 1, wherein: the finger matrix (1) and the finger bottom plate (2) are made of Hei-Cast 8400 materials.
10. A high-speed response soft paw, which is characterized in that: comprising a plurality of soft fingers according to any one of claims 1-9 and a base (21), wherein the base (21) is fixed to the soft fingers, and the plurality of soft fingers are arranged in a non-parallel manner to form a claw shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110962251.8A CN113681581B (en) | 2021-08-20 | 2021-08-20 | High-speed response soft finger |
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| CN202110962251.8A CN113681581B (en) | 2021-08-20 | 2021-08-20 | High-speed response soft finger |
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| CN113681581A CN113681581A (en) | 2021-11-23 |
| CN113681581B true CN113681581B (en) | 2023-06-27 |
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| CN113681581A (en) | 2021-11-23 |
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