The invention discloses a passive self-adaptive adhesion-active rapid desorption bionic adhesion end effector which comprises a driving structure integrated bionic leg, a bionic foot with a flexible passive degree of freedom, and a plurality of adhesion toes with efficient adhesion-desorption performance, wrist joints of the bionic legs are connected with the bionic feet in a matched mode throughball joints and springs, and the passive freedom degree is achieved. The adhesion toes are fixed to the lower edge of the bionic foot, an active desorption driving motor is further fixed in the bionicleg, and the active desorption driving motor controls the adhesion toes to be lifted up through a traction rope. According to the passive self-adaptive adhesion-active rapid desorption bionic adhesion end effector provided by the technical scheme, the problems that an existing adhesion end effector is poor in adhesion performance and cannot adapt to rough and concave-convex surfaces, and a passive desorption mode is large in desorption force and low in efficiency can be effectively solved.

    一种被动自适黏附‑主动快速脱附的仿生黏附末端效应器,包括驱动结构一体化仿生腿、具有灵活被动自由度的仿生脚,以及若干具备高效黏‑脱附性能的黏附脚趾;所述仿生腿的腕关节通过球关节和弹簧与仿生脚配合连接,实现被动自由度;黏附脚趾固定在仿生脚下边缘,仿生腿内还固定有主动脱附驱动电机,所述主动脱附驱动电机通过牵拉绳控制黏附脚趾的上抬。上述技术方案提供的被动自适黏附‑主动快速脱附的仿生黏附末端效应器,能有效解决现有黏附末端效应器黏附性能差,无法适应粗糙、凹凸表面,以及被动脱附方式脱附力大、效率低的问题。


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    Title :

    Passive self-adaptive adhesion-active rapid desorption bionic adhesion end effector


    Additional title:

    一种被动自适黏附-主动快速脱附的仿生黏附末端效应器


    Contributors:
    WANG ZHOUYI (author) / ZONG WEIJIA (author) / HAN YAOHUI (author) / WANG BINGCHENG (author) / DAI ZHENDONG (author)

    Publication date :

    2020-11-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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