Self-sensing three-mode rigid-flexible coupling gripper

The invention provides a self-sensing three-mode rigid-flexible coupling gripper. The self-sensing three-mode rigid-flexible coupling gripper comprises a supporting device; the gripper device is connected to the supporting device and comprises a rigid gripper unit, a soft gripper unit and a suction...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	WANG XIAOHAO, HUANG HAOZHI, WANG WEICHEN, MAO BAIJIN, HAO HONGWEI, ZHU JIAQI, QU JUNTIAN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	The invention provides a self-sensing three-mode rigid-flexible coupling gripper. The self-sensing three-mode rigid-flexible coupling gripper comprises a supporting device; the gripper device is connected to the supporting device and comprises a rigid gripper unit, a soft gripper unit and a suction cup gripping unit, the rigid gripper unit and the soft gripper unit are connected in parallel, the soft gripper unit comprises a soft gripper, and the suction cup gripping unit is arranged at one end of the soft gripper unit; the driving device is used for driving the gripper device and comprises a motor driving unit used for driving the rigid gripper unit, a first pneumatic unit used for driving the soft gripper unit and a second pneumatic unit used for driving the suction cup gripping unit. And the strain sensing device is arranged on the soft gripper and is used for acquiring deformation information of the soft gripper unit. According to the gripper, the perfect combination of a wide gripping range and excellent