CN116079779A - Compound driving type soft gripper - Google Patents
Compound driving type soft gripper Download PDFInfo
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- CN116079779A CN116079779A CN202310260827.5A CN202310260827A CN116079779A CN 116079779 A CN116079779 A CN 116079779A CN 202310260827 A CN202310260827 A CN 202310260827A CN 116079779 A CN116079779 A CN 116079779A
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Classifications
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of manipulators, and particularly discloses a compound driving type soft gripper which comprises a gripper body and an energy supply unit, wherein the gripper body comprises at least two tail tentacles, the tail tentacles are hollow, and the tail tentacles are made of magnetorheological elastomer materials; the energy supply unit comprises an excitation coil, a shell and an end cover, wherein one end of the tail antenna is connected with one end of the shell, the end cover is connected with the other end of the shell, and the excitation coil is positioned in a cavity formed by the shell and the end cover; the end cover is provided with air pressure input holes, one end of the shell, far away from the end cover, is communicated with air pressure guide pipes, the number of the air pressure guide pipes is equal to that of the terminal tentacles, and when the shell is connected with the terminal tentacles, the air pressure guide pipes extend into the inner cavities of the terminal tentacles. The invention can improve the grabbing force of the soft grabber and can work in a region with narrow space.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a compound driving type soft gripper.
Background
A mechanical gripper is a gripping device widely used in the field of industrial manufacturing. At present, mechanical grippers are generally classified into two types of rigidity and flexibility, wherein the rigid grippers have high operation precision and can output very high holding force, but due to poor object adaptability, universality, man-machine interaction and the like, the rigid grippers are difficult to meet the requirements of increasingly developed operation tasks. Flexible grips have become a research hotspot and can generally be divided into three categories: one is to make the gripper passively adapt to the shape of the article by outputting positive pressure so as to achieve the aim of clamping and grabbing; one type is to adapt to the shape of an object in a soft state and grasp a transferred object in a harder state by changing the rigidity of a grip; the other type is to grasp the object by adsorption, but has higher requirements on the roughness of the surface of the grasped object; the three types of grippers have advantages and disadvantages, and combined soft grippers gradually appear in engineering.
Pneumatic soft grips have been developed which are relatively mature and are commercially available, and the principle is generally that the air bags distributed on the back of a "finger" are inflated by positive air pressure, the back air bags are mutually pressed to bend the "finger", and two or more such "fingers" are used to form one soft grip. But the application of the balloon in a narrow space is limited due to the principle of bending caused by the inflation of the balloon. In addition, the problems of the negative pressure grabber based on particle blocking, such as large volume, poor sensor addition and the like limit the application of the negative pressure grabber in narrow space and commercialization. The magnetically driven soft grip is usually made of magnetically responsive material, the strength of the magnetic field can be changed by changing the current flowing through the exciting coil, but a high-power supply is required for generating a high-strength magnetic field, and meanwhile, the coil works for a long time to cause a heating problem.
Disclosure of Invention
The invention provides a compound driving type soft gripper, which aims to improve gripping force and can work in a region with narrow space.
The invention is realized by the following technical scheme: the composite driving type soft gripper comprises a gripper body and an energy supply unit, wherein the gripper body comprises at least two tail tentacles, the tail tentacles are hollow, and the tail tentacles are made of magnetorheological elastomer materials;
the energy supply unit comprises an excitation coil, a shell and an end cover, wherein one end of the tail antenna is connected with one end of the shell, the end cover is connected with the other end of the shell, and the excitation coil is positioned in a cavity formed by the shell and the end cover; the end cover is provided with air pressure input holes, one end of the shell, far away from the end cover, is communicated with air pressure guide pipes, the number of the air pressure guide pipes is equal to that of the terminal tentacles, and when the shell is connected with the terminal tentacles, the air pressure guide pipes extend into the inner cavities of the terminal tentacles.
Compared with the prior art, the scheme has the following advantages and beneficial effects: according to the scheme, the bending state of the tail tentacle can be changed by applying negative air pressure into the tail tentacle from the air pressure input hole, so that the effect of wrapping type grabbing articles is achieved, meanwhile, the magnetic field can be generated by electrifying the exciting coil, the penetrability of the magnetic field is utilized, the magnetic field can directly act on the tail tentacle to strengthen grabbing force of the tail tentacle, so that the force of grabbing articles can be further improved under the dual actions of air pressure and the magnetic field, the grabbing form of the tail tentacle can be changed in a negative pressure driving mode when the articles are grabbed, the gripper can be smaller in size in a negative pressure driving mode, the operation in a narrow space can be adapted, the supplying load of magnetic field energy is lightened, and the size of the exciting coil is optimized.
Further, the shell is in a cylinder shape, the end cover comprises a cover plate and an upright post, the cover plate is coaxially connected with the upright post, the upright post of the end cover is inserted into the shell and forms an annular cavity with the shell, and the exciting coil is positioned in the annular cavity formed by the upright post and the shell.
Further, the air pressure conduit, the end cap and the housing are all made of high magnetic permeability materials.
Further, the terminal tentacle comprises a front face and two side faces which are mutually enclosed and connected, the front face and the two side faces of the terminal tentacle are triangular, the outer contours of the front face and the side faces of the terminal tentacle are in inward bending states, and the cross-sectional area of the terminal tentacle is gradually reduced along the direction away from the shell.
Further, the front face of the terminal tentacle is provided with a plurality of paper folding textures.
Further, the two sides of the terminal whisker are connected with each other, and cracks are distributed on one side.
Further, the magnetorheological elastomer is composed of a high polymer elastomer matrix and ferromagnetic particles, wherein the elastomer matrix is any one or any combination of a saturated elastomer, an unsaturated elastomer, a thermosetting elastomer and a thermoplastic elastomer.
Further, the ferromagnetic particles are any one or any combination of nonmagnetic metal particles, hard magnetic particles and metal carbon mixtures with the diameter of 1-150 mu m, and the volume fraction of the filled ferromagnetic particles in the elastomer matrix is 20% -70%.
Further, the terminal tentacles have three.
Further, an end cover cavity is formed in the upright post, a cable hole communicated with the end cover cavity is formed in the cover plate, a camera is mounted in the end cover cavity, and a camera preformed hole is formed in one end, far away from the cover plate, of the shell.
The invention has the beneficial effects that:
1. the soft gripper adopts a pneumatic and magnetic drive composite driving mode, the overall rigidity of the magnetorheological elastomer is controlled by a magnetic field, and the surface morphology of the magnetorheological elastomer can be changed under the stimulation of the magnetic field. Negative pressure driving can make the grip more compact while reducing the supply load of magnetic field energy, which helps to optimize the size of the exciting coil. And the hollow terminal tentacles are deformed outwards and shrunken by adding negative pressure, and the internal space is compressed, so that the integral rigidity of the tentacles is changed, and the purpose of wrapping and grabbing objects is conveniently achieved. In addition, for the wrapped type gripper, the interlocking effect can be improved through magnetic field and negative pressure driving, and the gripping performance of the gripper is improved.
2. In the invention, the gas flow path passes through the exciting coil and then reaches the terminal tentacles. When the device works, partial heat generated by the exciting coil can be taken away by gas exchange, so that the purpose of heat dissipation is achieved.
3. According to the invention, the front surface of the terminal tentacle for grabbing the article is provided with the paper folding texture structure, and the two sides of the terminal tentacle are mutually connected with one another, and cracks are distributed on one surface, so that the resistance of the terminal tentacle in bending can be reduced, the shape of the terminal tentacle after bending can be restrained by folds of the paper folding texture, and the paper folding texture enables the terminal tentacle to be unique in shrinkage state under negative pressure. Meanwhile, the densely folded paper textures can enhance the friction force when the articles are grabbed, so that the stability after the articles are grabbed is improved.
4. The terminal tentacle has a curved shape, the whole shape is in a triangular pyramid shape after being slightly curved, the cross-sectional area of the terminal tentacle gradually becomes smaller as the terminal tentacle is far away from a magnetic field, a variable cross-section design is formed, the design is based on the consideration of bending resistance cross-section coefficients and magnetic field attenuation, the bending resistance cross-section coefficients of the terminal tentacle are smaller than those of a column shape, bending deformation is easier as bending resistance is weaker, and the far-end point deformation of the terminal tentacle is smaller as the magnetic field attenuation is carried out, so that the far-end point of the terminal tentacle has a better wrapping effect on an article. In addition, both the prefabricated curvature of the terminal tentacles and the flattened design of the variable cross-section will enhance the deformability of the magnetorheological elastomer.
5. The center of the gripper is also provided with a camera which can be used for operation in a narrow invisible area; the gripper can be used for picking up foreign matters in large animals, grabbing fragile soft objects in pipelines, picking up and transferring conventional fruits and vegetables and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of a composite driving type soft gripper according to an embodiment of the present invention;
FIG. 2 is an exploded view of the overall structure of a compound drive type soft gripper according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an end whisker of a compound drive type soft gripper according to an embodiment of the present invention;
FIG. 4 is a schematic view of a housing of a compound drive type soft gripper according to an embodiment of the present invention;
FIG. 5 is a perspective view of an end cap of a compound drive type soft gripper according to an embodiment of the present invention;
FIG. 6 is a bottom view of an end cap of a compound drive soft gripper according to an embodiment of the present invention;
FIG. 7 is a top view of an end cap of a compound drive type soft gripper according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view taken at C-C of FIG. 7;
FIG. 9 shows an embodiment of the present invention in which the composite driving type soft gripper is in a positive air pressure state, with the terminal tentacles standing upright;
FIG. 10 shows a reverse bending state of the terminal tentacle of the composite driving type soft gripper under a reverse magnetic field according to the embodiment of the present invention;
FIG. 11 is a schematic diagram showing a state of a composite driving type soft gripper using a pneumatic driving method according to an embodiment of the present invention;
fig. 12 is a schematic diagram of a state of a composite driving type soft gripper using a magnetic field air entrainment mode to drive gripping according to an embodiment of the present invention.
In the drawings, the reference numerals and corresponding part names:
the antenna comprises a terminal antenna 1, a mounting plate 101, a paper folding texture 1-1, a first positioning hole 1-2, an antenna cavity 1-3, a crack 1-4, a shell 2, a second positioning hole 2-1, a camera preformed hole 2-2, a pneumatic guide tube 2-3, an excitation coil 3, a camera 4, an end cover 5, a cover plate 501, a stand column 502, an end cover cavity 5-1, a pneumatic input hole 5-2 and a cable hole 5-3.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Examples
As shown in fig. 1-8, embodiment 1 provides a compound driving type soft gripper, which comprises a gripper body and an energy supply unit, wherein the gripper body comprises at least two end tentacles 1, in this embodiment, the end tentacles 1 have three, and the three end tentacles 1 can stably grip objects, and the number of the end tentacles 1 is more suitable, so that the volume of the gripper body cannot be increased due to the excessive end tentacles 1, and the small gripping space cannot be adapted.
The energy supply unit includes an exciting coil 3, a housing 2, and an end cap 5, one end of the terminal whisker 1 is connected with one end of the housing 2, and the end cap 5 is connected with the other end of the housing 2. The exciting coil 3 is located in a cavity formed by the housing 2 and the end cap 5.
The end whisker 1 in this embodiment is hollow and isolated from the outside to form a whisker cavity 1-3, the end whisker 1 comprises a front surface and two side surfaces which are mutually enclosed and connected, and the front surface and the two side surfaces of the end whisker 1 are mutually integrated. The front surface and the two side surfaces of the terminal tentacle 1 are both triangular, the outer contours of the front surface and the side surfaces of the terminal tentacle 1 are both in inward bending states, the cross-sectional area of the terminal tentacle 1 is gradually reduced along the direction away from the shell 2, so that the appearance of the terminal tentacle 1 is in a slightly bent triangular pyramid shape, the terminal tentacle 1 is in a certain radian under a natural state, and the longitudinal section of the terminal tentacle 1 is in a bent flat shape as shown in fig. 7 and 8.
In this embodiment, all three end tentacles 1 are made of magnetorheological elastomer, in another embodiment, the front surface (the surface contacting the object) of the end tentacle 1 is provided with a plurality of densely-distributed folded paper textures 1-1, and in combination with the illustration of fig. 1, the surface (the surface not contacting the object) of the two side surfaces of the end tentacle 1, i.e. the back surface) connected with each other is distributed with sparse equidistant cracks 1-4, wherein the folded paper textures 1-1 can be of common folded paper types, such as a Miura-ori pattern, a Yoshimura pattern, a waters boundary pattern, a diagonal pattern, and the like, but are not limited to the above types.
In this embodiment, the antenna cavity 1-3 inside the terminal antenna 1 is also in a triangular pyramid shape, and the antenna cavity 1-3 is not penetrated by the folded paper texture 1-1 on the front surface and the crack 1-4 on the back surface of the terminal antenna 1, except for the opening at the port of the terminal antenna 1 (i.e. the opening at the end where the terminal antenna 1 is connected with the housing 2), and the inside of the antenna cavity 1-3 has good tightness.
In the manufacturing process, the terminal tentacle 1 is magnetized under the condition of high bending, and then is restored to a state with a certain radian. The whole end whisker 1 can be manufactured by a mould, and the front paper folding texture 1-1 and the back crack 1-4 can also be manufactured by carving by laser or using other feasible schemes.
The magnetorheological elastomer used for manufacturing the terminal tentacle 1 in the embodiment consists of a high polymer elastomer matrix and ferromagnetic particles, wherein the elastomer matrix is any one or any combination of a saturated elastomer, an unsaturated elastomer, a thermosetting elastomer and a thermoplastic elastomer, and the elastomer matrix is Polydimethylsiloxane (PDMS), natural rubber, polyurethane (PU) and the like. The ferromagnetic particles are any one or any combination of nonmagnetic metal particles, hard magnetic particles and metal carbon mixtures with the diameter of 1-150 mu m, and the ferromagnetic particles are carbonyl iron powder, neodymium iron boron or the mixture of carbon nano tubes and carbonyl iron powder. In addition, the volume fraction of the ferromagnetic particle packing in the elastomer matrix in this embodiment is 20% -70%.
The magnetorheological elastomer matrix of the embodiment is preferably polydimethylsiloxane, the ferromagnetic particles are preferably carbonyl iron powder with the diameter of 5 mu m, and the volume fraction of the ferromagnetic particles filled in the elastomer matrix is preferably 60%.
As shown in fig. 3, in this embodiment, an end of the terminal whisker 1 connected with the housing 2 is integrally formed with a mounting plate 101, the mounting plate 101 has a triangular structure, a triangular through hole is formed in the middle of the mounting plate 101 and is communicated with the whisker cavity 1-3 of the terminal whisker 1, three first positioning holes 1-2 are formed at the end of the mounting plate 101, and the three first positioning holes 1-2 are distributed at the end of the mounting plate 101 in a triangular shape.
Referring to fig. 4, in this embodiment, three groups of second positioning holes 2-1 are formed at one end of the housing 2 far away from the end cover 5, the three groups of second positioning holes 2-1 are uniformly distributed along the circumferential direction of the housing 2, and the number of the second positioning holes 2-1 in each group is three, and the distribution form of the three second positioning holes 2-1 in each group is the same as the form and the spacing of the three first positioning holes 1-2 on the mounting plate 101, so that when the three terminal tentacles 1 are respectively connected with the housing 2, the three first positioning holes 1-2 on the mounting plate 101 of each terminal tentacle 1 can be sequentially and correspondingly connected with the three second positioning holes 2-1 in each group, and in this embodiment, the terminal tentacles 1 are fixedly connected with the end of the housing 2 through screws of the mounting plate 101.
In this embodiment, the casing 2 is cylindrical, one end of the casing 2 connected with the end cover 5 is an open end, the end cover 5 includes a cover plate 501 and a column 502, the cover plate 501 is in a circular plate structure, the cover plate 501 and the column 502 are coaxially and integrally connected, the column 502 of the end cover 5 is inserted into the casing 2 and forms an annular cavity with the casing 2, and the exciting coil 3 is wound outside the column 502, so that the exciting coil 3 is located in the annular cavity formed by the column 502 and the casing 2.
Referring to fig. 5, three air pressure input holes 5-2 uniformly distributed along the circumferential direction of the cover plate 501 are formed in the cover plate 501, and after the upright posts 502 of the end cover 5 are inserted into the housing 2, the cover plate 501 is fixedly connected with the end of the housing 2 in a sealing manner, and the connection between the cover plate 501 and the end of the housing 2 can be achieved by adopting a bonding and screw connection manner.
The end of the housing 2 far away from the cover plate 501 is communicated with air pressure conduits 2-3 with the same number as the end tentacles 1, in this embodiment, three air pressure conduits 2-3 are provided, and when the housing 2 is connected with the three end tentacles 1, the three air pressure conduits 2-3 can sequentially extend into the internal cavities of the three end tentacles 1, i.e. the air pressure conduits 2-3 extend into the tentacles cavities 1-3 of the end tentacles 1 to be communicated with the end tentacles 1. The whole exciting coil 3 is sealed in an annular cavity formed by the shell 2 and the end cover 5, in order to reduce magnetic leakage, the end cover 5 and the shell 2 are made of high-permeability silicon steel materials, and in the embodiment, the air pressure guide tube 2-3 is also made of high-permeability silicon steel materials, and the air pressure guide tube 2-3, the end cover 5 and the shell 2 are all made of high-permeability silicon steel materials.
The existence of the air pressure conduit 2-3 enables the air pressure conduit 2-3 to play a supporting role on the root of one end of the terminal tentacle 1, which is close to the shell 2, on one hand, so that the terminal tentacle 1 is not excessively shrunken in the negative pressure state, and on the other hand, the air pressure conduit 2-3 is magnetized under the action of a magnetic field, and the magnetic field strength acted on the terminal tentacle 1 is enhanced.
In another embodiment, as shown in fig. 5 and 6, an end cover cavity 5-1 is formed in the upright post 502, a cable hole 5-3 communicated with the end cover cavity 5-1 is formed in the center of the cover plate 501, a camera 4 is installed in the end cover cavity 5-1, and a camera preformed hole 2-2 is formed in one end, away from the cover plate 501, of the housing 2, as shown in fig. 4, for installing the camera 4, so that the end portion of the camera 4 extends out of the upright post 502, and the camera 4 is convenient for operation in a narrow invisible area.
In operation, depending on the diameter of the article, it is optional whether positive air pressure is applied to bring the distal tentacle 1 into an upright state as shown in fig. 9, or a reverse magnetic field is applied in an upright state to bring the distal tentacle 1 into a reverse bent state as shown in fig. 10. When the terminal tentacle 1 is in a surrounding potential around the article, negative pressure is applied through the air pressure input hole 5-2 on the cover plate 501, the negative pressure enables the terminal tentacle 1 to deform and bend to wrap the article, the exciting coil 3 is electrified, the generated positive magnetic field enables the surface morphology of the terminal tentacle 1 to change, the overall rigidity of the magnetorheological elastomer is changed, and meanwhile, a certain grabbing force can be provided. Through the operation, the article can be grasped stably; when the exciting coil 3 is disconnected and the maintenance of the air pressure is stopped, the article can be removed.
If the rigidity of the terminal tentacle 1 is not changed by using a magnetic field during the grabbing operation, as shown in fig. 11, the grabbing force is sometimes insufficient to resist the situation that the object slides down due to the gravity of the target object because the material is a soft magneto-rheological elastomer, but the grabbing is performed by negative pressure; as shown in fig. 12, the addition of the magnetic field can obviously enhance the overall rigidity of the terminal tentacle 1, make the gripping process more stable, make the gripping force more great, and make the appearance of the front surface of the terminal tentacle 1 change, which helps to enhance the friction between the grip and the target object.
When the device works, negative air pressure and a magnetic field are applied to the terminal tentacles 1, so that the terminal tentacles 1 bend according to prefabricated folds, and the grabbing action is realized; the application of the magnetic field can also change the surface morphology change of the tentacles and increase the rigidity of the tentacles, and the friction force can be increased when the object is grabbed, so that the grabbing process is more stable; the addition of negative pressure reduces the magnetic field energy input driven by a pure magnetic field, and the negative pressure compresses the inner space of the terminal tentacle 1, so that the rigidity of the terminal tentacle 1 is changed; negative pressure air flow passes through the exciting coil 3, so that the heating problem of the exciting coil 3 can be relieved to a certain extent; in addition, the negative pressure and the magnetic field drive together improve the interlocking effect of the soft gripper. The center of the soft gripper is also provided with a camera 4 which can be used for operation in a narrow invisible area; the soft gripper can be used for picking up foreign matters in large animals, grabbing fragile soft objects in pipelines, picking up and transferring conventional fruits and vegetables and the like.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The composite driving type soft gripper is characterized by comprising a gripper body and an energy supply unit, wherein the gripper body comprises at least two tail tentacles, the tail tentacles are hollow, and the tail tentacles are made of magnetorheological elastomer materials;
the energy supply unit comprises an excitation coil, a shell and an end cover, wherein one end of the tail antenna is connected with one end of the shell, the end cover is connected with the other end of the shell, and the excitation coil is positioned in a cavity formed by the shell and the end cover; the end cover is provided with air pressure input holes, one end of the shell, far away from the end cover, is communicated with air pressure guide pipes, the number of the air pressure guide pipes is equal to that of the terminal tentacles, and when the shell is connected with the terminal tentacles, the air pressure guide pipes extend into the inner cavities of the terminal tentacles.
2. The compound driving type soft gripper according to claim 1, wherein the housing is cylindrical, the end cover comprises a cover plate and an upright post, the cover plate is coaxially connected with the upright post, the upright post of the end cover is inserted into the housing and forms an annular cavity with the housing, and the exciting coil is located in the annular cavity formed by the upright post and the housing.
3. The compound actuated soft gripper of claim 1, wherein the pneumatic tube, end cap and housing are all made of a high permeability material.
4. The compound driving type soft gripper according to claim 1, wherein the end tentacle comprises a front face and two side faces which are mutually enclosed and connected, the front face and the two side faces of the end tentacle are both triangular, the outer contours of the front face and the side faces of the end tentacle are both in inward bending states, and the cross-sectional area of the end tentacle is gradually reduced in a direction away from the housing.
5. The compound actuated soft gripper of claim 4, wherein the front face of said terminal tentacles is provided with a plurality of folded paper textures.
6. A compound actuated soft gripper as claimed in claim 4 or 5, wherein said two sides of said end whisker are provided with cracks distributed on the side where they are connected to each other.
7. The compound driven soft gripper according to claim 1, wherein the magnetorheological elastomer is composed of a high molecular elastomer matrix and ferromagnetic particles, and the elastomer matrix is any one or any combination of a saturated elastomer, an unsaturated elastomer, a thermosetting elastomer and a thermoplastic elastomer.
8. The composite driving type soft gripper according to claim 7, wherein the ferromagnetic particles are any one or any combination of nonmagnetic metal particles, hard magnetic particles and metal carbon mixture with a diameter of 1-150 μm, and the volume fraction of the ferromagnetic particles filled in the elastomer matrix is 20% -70%.
9. The compound actuated soft gripper of claim 1, wherein said distal tentacles have three.
10. The composite driving type soft gripper according to claim 2, wherein an end cover cavity is formed in the upright post, a cable hole communicated with the end cover cavity is formed in the cover plate, a camera is installed in the end cover cavity, and a camera preformed hole is formed in one end, far away from the cover plate, of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310260827.5A CN116079779A (en) | 2023-03-17 | 2023-03-17 | Compound driving type soft gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310260827.5A CN116079779A (en) | 2023-03-17 | 2023-03-17 | Compound driving type soft gripper |
Publications (1)
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