CN115319776B - 3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk - Google Patents
3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk Download PDFInfo
- Publication number
- CN115319776B CN115319776B CN202210874421.1A CN202210874421A CN115319776B CN 115319776 B CN115319776 B CN 115319776B CN 202210874421 A CN202210874421 A CN 202210874421A CN 115319776 B CN115319776 B CN 115319776B
- Authority
- CN
- China
- Prior art keywords
- bionic
- air
- trunk
- air bag
- connector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 87
- 241000238413 Octopus Species 0.000 title claims abstract description 62
- 238000010146 3D printing Methods 0.000 title claims abstract description 14
- 230000008878 coupling Effects 0.000 title claims abstract description 12
- 238000010168 coupling process Methods 0.000 title claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 12
- 230000009747 swallowing Effects 0.000 claims abstract description 30
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 11
- 239000000741 silica gel Substances 0.000 claims description 11
- 229910002027 silica gel Inorganic materials 0.000 claims description 11
- 239000002775 capsule Substances 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims 1
- 230000009975 flexible effect Effects 0.000 abstract description 8
- 238000004140 cleaning Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 102000008186 Collagen Human genes 0.000 description 1
- 108010035532 Collagen Proteins 0.000 description 1
- 241001391944 Commicarpus scandens Species 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 229920001436 collagen Polymers 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Toys (AREA)
Abstract
The invention relates to a 3D printing forming-based soft mechanical arm for coupling a bionic octopus tentacle and a trunk, and belongs to the technical field of bionic robots. The bottom connector of the bionic trunk at the top is fixedly adhered with the top connector II of the middle swallowing structure, the air inlet of the bionic octopus tentacle at the bottom is fixedly adhered with the trapezoid groove on the circular cavity at the bottom of the middle bionic swallowing junction, and the air passage III of the bionic octopus tentacle is communicated with the air passage I of the swallowing structure. The novel octopus hand-free bionic trunk has the advantages that the novel octopus hand-free bionic trunk is novel in structure, the octopus hand-free bionic trunk is skillfully combined with the principle of the trunk, the bionic trunk is high in freedom degree, the common grabbing function of a mechanical arm is achieved, meanwhile, the flexible structure and the flexible deformation are achieved, the capability of grabbing objects is achieved, the types of the grabbed objects are wider, and accordingly the novel octopus hand-free bionic trunk has a wide application prospect.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a soft mechanical arm based on 3D printing and forming and coupling a bionic octopus tentacle and a trunk.
Background
At present, various countries in the world face serious environmental problems, particularly, a large amount of artificial garbage is left in places such as beach, sea surface, space and the like which are difficult to clean, so that the environment is greatly damaged, and the garbage cleaning problem is to be solved.
In terms of the composition of the traditional mechanical arm, the traditional mechanical arm is mainly composed of various metal elements with high precision tips, and high technical requirements are required for manufacturing the parts, so that the traditional mechanical arm is high in manufacturing cost and difficult to install; in terms of control, a common mechanical arm generally needs to be controlled by a program, which requires a great deal of time and effort for programming by a programmer, and continuous debugging and calibration are also required in the later stage, which takes a great deal of time; because the traditional mechanical arm is a precise device and the loss is serious, the manpower and the funds are re-invested for later maintenance, and a great deal of manpower and material resources are wasted; in the aspect of adapting to the environment, the traditional mechanical arm can be only installed in special environments such as factories, and the traditional mechanical arm occupies a large space and is difficult to install, the application environment is single, and the severe environments such as ocean and space cannot be met.
The trunk and octopus tentacles, which are of great interest to researchers due to their unique structure and flexible action, are expected to mimic the external shape, movement principles and behavior of trunk and octopus tentacles in nature. However, the existing bionic trunk and octopus tentacle robots are complex in structure, so that the rigidity and stability of the overall mechanical structure are weak, and the loading capacity is low. Meanwhile, various soft robots have higher cost and narrower application range, which results in the defect of practicability.
Therefore, the existing garbage cleaning products are generally high in manufacturing cost, low in precision and small in storage capacity, and an improved product is urgently needed to solve the problems.
Disclosure of Invention
The invention provides a 3D printing forming-based soft mechanical arm for coupling a bionic octopus tentacle and a trunk, which aims to solve the problems of high manufacturing cost, low precision and low storage capacity of the conventional garbage cleaning products.
The technical scheme adopted by the invention is as follows: the bionic octopus tentacle comprises a bionic trunk, a swallowing structure and a bionic octopus tentacle, wherein a bottom connector of the bionic trunk at the top is fixedly adhered to a top connector II of the middle swallowing structure, an air inlet of the bionic octopus tentacle at the bottom is fixedly adhered to a trapezoid groove on a circular cavity at the bottom of the middle bionic swallowing junction, and an air channel III of the bionic octopus tentacle is communicated with an air channel I on the swallowing structure.
The bionic trunk consists of three sections, wherein the third section consists of a bottom connector, a rib plate III, an air duct III and four groups of mutually independent air bag groups III, the bottom end of each air bag III is fixedly bonded with the bottom connector, each rib plate III is embedded in a gap of each air bag unit body of each air bag group III, and the air duct III is connected with the upper end of each air bag group III; the second section consists of a second intermediate connector, a second rib plate, a second air duct and four groups of mutually independent air bags, wherein the bottom end of the second air bag group is fixedly bonded with the second intermediate connector, each second rib plate is embedded in a gap of each air bag unit body of the second air bag group, and the second air duct is connected with the upper end of the second air bag group; the first section consists of a first intermediate connector, a first rib plate, a first air duct and a first four mutually independent air bag group, wherein the bottom end of the first air bag group is fixedly bonded with the first intermediate connector, each rib plate is embedded in the gap of each air bag unit body of the first air bag group, and the first air duct is connected with the upper end of the first air bag group; the air duct III passes through the intermediate connector II, the rib plate II, the intermediate connector I, the rib plate I and the top connector I, the air duct II passes through the intermediate connector I, the rib plate I and the top connector I, and the air duct I passes through the top connector I.
The first air bag group, the second air bag group and the third air bag group have the same structure, each group of air bags is connected by 10 air bag unit bodies through a penetrating air pipe, and gaps are reserved among each group of air bags.
The rib plate I, the rib plate II and the rib plate III have the same structure, and each rib plate is provided with four large round holes and four small round holes.
The swallowing structure comprises a top connector, a protective sleeve, an empty cylinder, a cylindrical cavity, an air channel I, a groove, a double-layer thin-wall capsule, an actuating rod and an air channel II, wherein the top connector II is fixedly bonded with a bottom connector of a bionic trunk, the protective sleeve is sleeved on the empty cylinder, two ends of the protective sleeve are fixedly bonded on the top connector II and the cylindrical cavity respectively, the empty cylinder and the cylindrical cavity are manufactured in an integrated manner, the front end of the empty cylinder is fixedly bonded with the top connector, four symmetrically distributed air channels I are symmetrically distributed on the cavity of the cylindrical cavity, an air outlet of the air channel I is arranged at the groove, the groove is fixedly bonded with an air inlet end of the bionic octopus tentacle, an air outlet of the air channel I is communicated with the air channel of the octopus tentacle, an air inlet of the air channel I is a socket externally connected with an air pump pipe, the double-layer thin-wall capsule is in the cylindrical cavity and keeps an inflated state, the cylindrical cavity is filled with the actuating rod, and the air inlet of the air channel II is a socket externally connected with the air pump.
The second top connector is made of hard silica gel, and the hollow cylinder and the cylindrical cavity are made of hard silica gel.
The number of the bionic octopus tentacles is four.
The bionic octopus tentacle structure comprises an air passage III, rectangular gaps, cavities, a top main body deformation layer, a constraint layer and a bottom layer, wherein the top main body deformation layer is composed of a plurality of protrusions, the same rectangular gaps are formed among the protrusions, cavities with different sizes are formed in each protrusion, each cavity is communicated with the air passage I on the swallowing structure through the bottom air passage, and the air passage III is communicated with the air passage I on the swallowing structure; the restraint layer in the middle is fixedly adhered with the bottom layer.
The number of rectangular gaps on the bionic octopus contact is 8, and the width of each gap is 25mm; the number of the cavities on the bionic octopus contact is 8.
The constraining layer is of a different hardness than the underlying layer.
The invention has the advantages that the structure is novel, the modeling is based on a 3D printing die, a bionic principle is adopted, the modeling is adopted, the characteristics of the flexibility of the octopus tentacles and the movement of the trunk multiple degrees are combined, the principles of the octopus tentacles and the trunk multiple degrees are skillfully combined, the bionic trunk is high in freedom degree, the position can be well adjusted under the condition of complex environment, the structure and the change of the soft octopus tentacles are utilized to make the octopus tentacles which are wound and absorbed into a whole, the shape and the size of the octopus tentacles can be changed at will in a large range, the tentacles can grasp objects with different shapes under different conditions, the objects with smooth surfaces, sharp surfaces, small volumes, easy-to-break objects and the like can be grasped by utilizing the swallowing structure in the middle part, and the flexible robot arm can grasp according to the types of garbage under different working environments, and the effective grasping of objects with different sizes, materials and narrow space environments can be realized; the flexible mechanical arm has the advantages that the flexible mechanical arm can collect floating garbage efficiently and widely, can work under various conditions such as beach and ocean, can clean the environment in places where cleaning work is difficult, can effectively relieve environmental problems, has a general grabbing function of the mechanical arm, is flexible in structure and flexible in deformation, enhances the stability and deformation capacity of the structure, improves the load weight, improves the natural environment on the basis of saving manpower and energy, benefits mankind, and has important popularization and application values.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a bionic trunk of the present invention;
FIG. 3 is a schematic illustration of the bionic trunk of the present invention with the first intermediate connector, the second intermediate connector, and the first top connector removed;
FIG. 4 is a schematic structural view of the bottom connector of the bionic trunk of the present invention;
FIG. 5 is a schematic structural view of an intermediate connector I of the bionic trunk of the present invention;
FIG. 6 is a schematic structural view of a second intermediate connector of the bionic trunk of the present invention;
FIG. 7 is a schematic diagram of the rib plate structure of the bionic trunk of the invention;
FIG. 8 is a schematic structural view of the top connector I of the bionic trunk of the present invention;
FIG. 9 is a schematic structural view of a swallowing structure according to the present invention;
FIG. 10 is a cross-sectional view A-A of FIG. 9;
FIG. 11 is a schematic diagram of the structure of a bionic octopus hand according to the invention;
fig. 12 is a B-B cross-sectional view of fig. 11.
Detailed Description
The bionic octopus tentacle comprises a bionic trunk 1, a swallowing structure 2 and a bionic octopus tentacle 3, wherein a bottom connector 101 of the bionic trunk 1 at the top is fixedly adhered to a top connector two 201 of the swallowing structure 2 in the middle, an air inlet of the bionic octopus tentacle 3 at the bottom is fixedly adhered to a trapezoid groove 206 on a circular cavity 204 at the bottom of the bionic swallowing structure 2 in the middle, and an air channel three 301 of the bionic octopus tentacle 3 is communicated with an air channel one 205 on the swallowing structure 2.
The bionic trunk 1 consists of three sections, wherein the third section consists of a bottom connector 101, a rib plate III 102, an air duct III 108 and four groups of mutually independent air bag groups III 1012, the bottom end of the air bag III 1012 is fixedly adhered to the bottom connector 101, each rib plate III 102 is embedded in a gap of each air bag unit body of the air bag group III 1012, the air duct III 108 is connected with the upper end of the air bag group III 1012, and the air duct III 108 is communicated with an external air pump, so that the air inflation and deflation of the air bag group III are realized; the second section consists of a second intermediate connector 103, a second rib plate 109, a second air duct 106 and four groups of mutually independent air bags 1010, wherein the bottom end of the second air bag group 1010 is fixedly adhered to the second intermediate connector 103, each second rib plate 109 is embedded in a gap of each air bag unit body of the second air bag group 1010, the second air duct 106 is connected with the upper end of the second air bag group 1010, and the second air duct 106 is communicated with an external air pump, so that the second air bag group is inflated and deflated; the first section consists of a first middle connector 105, a first rib plate 1011, a first air duct 104 and a first four mutually independent air bag unit 1013, wherein the bottom end of the first air bag unit 1013 is fixedly adhered with the first middle connector 105, each rib plate 1011 is embedded in the gap of each air bag unit body of the first air bag unit 1013, the first air duct 104 is connected with the upper end of the first air bag unit 1013, and the first air duct 104 is used for being communicated with an external air pump, so that the first air bag unit is inflated and deflated; the air duct III 108 passes through the intermediate connector II 103, the rib II 109, the intermediate connector I105, the rib I1011 and the top connector I107, the air duct II 106 passes through the intermediate connector I105, the rib I1011 and the top connector I107, and the air duct I104 passes through the top connector I107;
The first air bag group, the second air bag group and the third air bag group have the same structure, each group of air bags is connected by 10 air bag unit bodies through a penetrating air pipe, and gaps are reserved among each group of air bags;
The first rib plate 1011, the second rib plate 109 and the third rib plate 102 have the same structure, and each rib plate is provided with four large round holes and four small round holes;
The swallowing structure 2 comprises a top connector 201, a protective sleeve 202, an air cylinder 203, a cylindrical cavity 204, an air channel I205, a groove 206, a double-layer thin-wall capsule 207, an execution rod 208 and an air channel II 209, wherein the top connector II 201 is fixedly bonded with the bottom connector 101 of the bionic trunk 1, the protective sleeve 202 is sleeved on the air cylinder 203, two ends of the protective sleeve 202 are respectively fixedly bonded on the top connector II 201 and the cylindrical cavity 204, the air cylinder 203 and the cylindrical cavity 204 are manufactured integrally, the front end of the protective sleeve is fixedly bonded with the top connector 201, four symmetrically distributed air channels I205 are symmetrically distributed on the cavity of the cylindrical cavity 204, the air outlet of the air channel I205 is arranged at the groove 206, the groove 206 is fixedly bonded with the air inlet end of the bionic octopus tentacle 3, the air outlet of the air channel I205 is communicated with the air channel 301 of the octopus tentacle 3, the air inlet of the air channel I205 is a socket for externally connecting an air pump catheter, the double-layer thin-wall capsule 207 is arranged in the cylindrical cavity 204, the air-filled with the cylindrical cavity 204, the execution rod 208 is arranged in the air cylinder 203, and the air inlet of the air channel II is externally connected with an air pump;
The second top connector 201 is made of hard silica gel;
The hollow cylinder 203 and the cylindrical cavity 204 are made of hard silica gel;
the number of the bionic octopus tentacles 3 is four;
The bionic octopus tentacle 3 comprises an air passage III 301, a rectangular gap 302, a cavity 303, a top main body deformation layer 304, a constraint layer 305 and a bottom layer 306; the top main body deformation layer 304 is composed of a plurality of bulges, the bulges are provided with the same rectangular gaps 302, the bulges are bent when inflated, cavities 303 with different sizes are arranged in each bulge, each cavity 303 is communicated with the bottom air passage 301, and the air passage three 301 is communicated with the air passage one 205 on the swallowing structure 2; the middle constraint layer 305 is fixedly bonded with the bottom layer 306;
The number of the rectangular gaps 302 on the bionic octopus contact is 8, and the width of each gap is 25mm;
the number of the cavities 303 on the bionic octopus contact is 8;
the constraining layer 305 is of a different hardness than the bottom layer 306.
Principle of operation
The first air duct 104 of the bionic trunk 1 is used for being communicated with an external air pump so as to realize inflation and deflation of the first air bag group, the second air duct 106 is used for being communicated with the external air pump so as to realize inflation and deflation of the second air bag group, and the third air duct 108 is used for being communicated with the external air pump so as to realize inflation and deflation of the third air bag group; the air bag is controlled by inflating and deflating the air pump, so that multiple degrees of freedom are provided, and the movement purpose is achieved;
the air inlet of the air channel II 209 of the swallowing structure 2 is a socket externally connected with an air pump, when the air is inflated, the air passing through the air channel 209 pushes the actuating rod 208 to move downwards, the actuating rod 208 pushes the double-layer thin-wall capsule 207 to contact the side to creep downwards under the action of friction force, the inner wall and the outer wall of the double-layer thin-wall capsule are alternated, the part of the double-layer thin-wall capsule 207 contacted with the cylindrical cavity 204 moves upwards due to friction, so that the function of swallowing an object is achieved,
The front end of the cylindrical cavity 204 will limit the double-layer thin-walled capsule 207 from completely disengaging; the air inlet of the first air passage 205 is provided with a socket externally connected with an air pump conduit, and the bionic octopus tentacle 3 is controlled through inflation and deflation;
When the bionic octopus tentacle 3 is inflated, the deformation degree of the top main body deformation layer 304 is large, the deformation degree of the middle constraint layer 305 and the bottom layer 306 is small, bending is generated, and an object is gripped through the bending of the bionic octopus tentacle.
The invention is formed based on 3D printing, and the preparation method is as follows:
constructing a bionic octopus tentacle, a swallowing structure and a bionic trunk model by using modeling software, and printing the bionic octopus tentacle, the swallowing structure and the bionic trunk model by using 3D printing;
Placing the prepared silicon collagen liquid (the selected silica gel has the hardness of 15 degrees, and is 'human body silica gel' formed by two raw liquids A and B) into a vacuum box, pumping out air, and preserving for 10 minutes in a negative pressure environment, so that the air in the casting material silica gel can be removed;
Injecting the bubble-pumped silica gel into a mould, putting the mould into a constant-temperature blast drier, taking out the mould from the mould after solidification of the mould, and opening the mould to obtain the formed bionic octopus tentacle and bionic trunk;
And finally, connecting the obtained bionic silica gel octopus tentacle, swallowing structure and the bionic trunk model through reserved grooves or nuts.
Claims (7)
1. A coupling bionic octopus tentacle and trunk's software arm based on 3D prints shaping, its characterized in that: the bionic octopus tentacle comprises a bionic trunk, a swallowing structure and a bionic octopus tentacle, wherein a bottom connector of the bionic trunk at the top is fixedly adhered to a top connector II of the middle swallowing structure, an air inlet of the bottom bionic octopus tentacle is fixedly adhered to a trapezoid groove on a circular cavity at the bottom of the middle bionic swallowing junction, and an air channel III of the bionic octopus tentacle is communicated with an air channel I on the swallowing structure;
The bionic trunk consists of three sections, wherein the third section consists of a bottom connector, a rib plate III, an air duct III and four groups of mutually independent air bag groups III, the bottom end of each air bag III is fixedly bonded with the bottom connector, each rib plate III is embedded in a gap of each air bag unit body of each air bag group III, and the air duct III is connected with the upper end of each air bag group III; the second section consists of a second intermediate connector, a second rib plate, a second air duct and four groups of mutually independent air bags, wherein the bottom end of the second air bag group is fixedly bonded with the second intermediate connector, each second rib plate is embedded in a gap of each air bag unit body of the second air bag group, and the second air duct is connected with the upper end of the second air bag group; the first section consists of a first intermediate connector, a first rib plate, a first air duct and a first four mutually independent air bag group, wherein the bottom end of the first air bag group is fixedly bonded with the first intermediate connector, each rib plate is embedded in the gap of each air bag unit body of the first air bag group, and the first air duct is connected with the upper end of the first air bag group; the air duct III passes through the middle connector II, the rib plate II, the middle connector I, the rib plate I and the top connector I, the air duct II passes through the middle connector I, the rib plate I and the top connector I, and the air duct I passes through the top connector I;
the swallowing structure comprises a top connector, a protective sleeve, a hollow cylinder, a cylindrical cavity, a first air passage, a groove, a double-layer thin-wall capsule, an execution rod and a second air passage, wherein the top connector II is fixedly bonded with the bottom connector of the bionic trunk;
The bionic octopus tentacle structure comprises an air passage III, rectangular gaps, cavities, a top main body deformation layer, a constraint layer and a bottom layer, wherein the top main body deformation layer is composed of a plurality of protrusions, the same rectangular gaps are formed among the protrusions, cavities with different sizes are formed in each protrusion, each cavity is communicated with the air passage I on the swallowing structure through the bottom air passage, and the air passage III is communicated with the air passage I on the swallowing structure; the restraint layer in the middle is fixedly adhered with the bottom layer.
2. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the first air bag group, the second air bag group and the third air bag group have the same structure, each group of air bags is connected by 10 air bag unit bodies through a penetrating air pipe, and gaps are reserved among each group of air bags.
3. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the rib plate I, the rib plate II and the rib plate III have the same structure, and each rib plate is provided with four large round holes and four small round holes.
4. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the second top connector is made of hard silica gel, and the hollow cylinder and the cylindrical cavity are made of hard silica gel.
5. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the number of the bionic octopus tentacles is four.
6. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the number of rectangular gaps on the bionic octopus contact is 8, and the width of each gap is 25mm; the number of the cavities on the bionic octopus contact is 8.
7. The 3D printing forming-based soft manipulator coupling a bionic octopus tentacle and a trunk as claimed in claim 1, wherein: the constraining layer is of a different hardness than the underlying layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874421.1A CN115319776B (en) | 2022-07-22 | 2022-07-22 | 3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874421.1A CN115319776B (en) | 2022-07-22 | 2022-07-22 | 3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115319776A CN115319776A (en) | 2022-11-11 |
| CN115319776B true CN115319776B (en) | 2024-05-24 |
Family
ID=83920564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210874421.1A Active CN115319776B (en) | 2022-07-22 | 2022-07-22 | 3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115319776B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847418B (en) * | 2022-12-23 | 2024-05-28 | 山西大学 | Bionic pneumatic soft mechanical arm based on hexagonal net structure and control method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836641A (en) * | 2005-03-21 | 2006-09-27 | 太雄医疗器株式会社 | Esophageal stent |
| CN107126307A (en) * | 2017-06-28 | 2017-09-05 | 常州至善医疗科技有限公司 | A kind of new connection of intragastric balloon system and method for releasing and structure |
| CN108698285A (en) * | 2016-01-19 | 2018-10-23 | 哈佛学院院长及董事 | Soft robot actuator and clamper |
| CN110125924A (en) * | 2019-06-11 | 2019-08-16 | 哈尔滨工业大学 | A kind of bionical legged type robot of software |
| CN110293581A (en) * | 2019-07-18 | 2019-10-01 | 北京航空航天大学 | A kind of bionic soft mechanical arm and grasping system |
| CN110509267A (en) * | 2019-08-21 | 2019-11-29 | 燕山大学 | A kind of software manipulator based on effect of eating |
| CN111319060A (en) * | 2020-03-03 | 2020-06-23 | 清华大学 | Soft robot gripping device and gripping method |
| CN111633676A (en) * | 2020-07-03 | 2020-09-08 | 江南大学 | Pneumatic soft manipulator |
| US10953551B1 (en) * | 2018-11-27 | 2021-03-23 | Amazon Technologies, Inc. | Soft actuator and gripper assembly |
| CN214267928U (en) * | 2021-01-22 | 2021-09-24 | 南京林业大学 | Jellyfish-like underwater robot based on software driver |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002050619A2 (en) * | 2000-12-21 | 2002-06-27 | Foster-Miller, Inc. | Steerable delivery system |
-
2022
- 2022-07-22 CN CN202210874421.1A patent/CN115319776B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836641A (en) * | 2005-03-21 | 2006-09-27 | 太雄医疗器株式会社 | Esophageal stent |
| CN108698285A (en) * | 2016-01-19 | 2018-10-23 | 哈佛学院院长及董事 | Soft robot actuator and clamper |
| CN107126307A (en) * | 2017-06-28 | 2017-09-05 | 常州至善医疗科技有限公司 | A kind of new connection of intragastric balloon system and method for releasing and structure |
| US10953551B1 (en) * | 2018-11-27 | 2021-03-23 | Amazon Technologies, Inc. | Soft actuator and gripper assembly |
| CN110125924A (en) * | 2019-06-11 | 2019-08-16 | 哈尔滨工业大学 | A kind of bionical legged type robot of software |
| CN110293581A (en) * | 2019-07-18 | 2019-10-01 | 北京航空航天大学 | A kind of bionic soft mechanical arm and grasping system |
| CN110509267A (en) * | 2019-08-21 | 2019-11-29 | 燕山大学 | A kind of software manipulator based on effect of eating |
| CN111319060A (en) * | 2020-03-03 | 2020-06-23 | 清华大学 | Soft robot gripping device and gripping method |
| CN111633676A (en) * | 2020-07-03 | 2020-09-08 | 江南大学 | Pneumatic soft manipulator |
| CN214267928U (en) * | 2021-01-22 | 2021-09-24 | 南京林业大学 | Jellyfish-like underwater robot based on software driver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115319776A (en) | 2022-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115319776B (en) | 3D printing forming-based soft mechanical arm for coupling bionic octopus tentacles and trunk | |
| CN215504101U (en) | Parallel bending soft actuator | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| Gong et al. | Rotary actuators based on pneumatically driven elastomeric structures | |
| CN111300459B (en) | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof | |
| CN105945930A (en) | Liner-driven type software robot with changeable rigidity | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN112549055A (en) | Humanoid pneumatic type soft robot finger | |
| CN108189059A (en) | A kind of apery refers to inflatable software three and refers to clamper | |
| CN214267928U (en) | Jellyfish-like underwater robot based on software driver | |
| CN106695854A (en) | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger | |
| CN113232035A (en) | Multi-joint rigid-flexible coupling bionic soft finger | |
| CN109168605A (en) | A kind of apery hand flexible pneumatic grabbing device | |
| CN106002989A (en) | S-shaped soft-bodied robot | |
| CN111687867A (en) | Soft mechanical arm with active rigidity changing function | |
| CN216505096U (en) | Multi-degree-of-freedom soft actuator | |
| CN113172640A (en) | Software driver | |
| Liu et al. | A tensegrity-based inchworm-like robot for crawling in pipes with varying diameters | |
| CN113400294A (en) | Multi-degree-of-freedom soft mechanical arm driven by fluid and soft mechanical arm system | |
| Jiao et al. | Design and fabrication of long soft-robotic elastomeric actuator inspired by octopus arm | |
| CN111558932B (en) | Pneumatic inchworm-imitating soft robot based on 3D printing technology | |
| Wang et al. | Fiber-reinforced soft robotic anthropomorphic finger | |
| CN110202728A (en) | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding | |
| CN109648545A (en) | A kind of soft robot based on hydrogel driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |