The invention discloses a bionic dolphin flexible grabbing actuator and a method, and belongs to the field of soft robots. The bionic dolphin flexible grabbing actuator comprises a bionic dolphin head, a flexible grabbing actuator body, a vision module, an illumination module and a fluid driving device. The bionic dolphin head is connected with the body part of a bionic dolphin robot through a transition section. The vision module and the illumination module are arranged on the bionic dolphin head. The flexible grabbing actuator body is a multi-cavity fluid driving actuator, and the fluid driving device is installed in the bionic dolphin body and used for providing fluid driving pressure for the flexible grabbing actuator body, so that a flexible lower jaw of the flexible grabbing actuatorbody is closed, and underwater grabbing operation is further achieved. Different occlusal forces can be adjusted by adjusting the fluid pressure, simulation experiment analysis is carried out, adjustment of 0-18N is carried out according to the maximum grabbing force capable of being borne by a grabbed object, and grabbing of part of underwater samples or organisms can be met. The flexible grabbing actuator is made of a silica gel flexible material, and is low in cost and easy to manufacture.

    本发明一种仿生海豚柔性抓取执行器及方法,属于软体机器人领域;包括仿生海豚头部、柔性抓取执行器、视觉模块、照明模块和流体驱动装置;仿生海豚头部通过过渡段与仿生海豚机器人的身体部分连接;视觉模块和照明模块设置于仿生海豚头部上;柔性抓取执行器为多腔体流体驱动执行器,流体驱动装置安装于仿生海豚身体内部,用于为柔性抓取执行器提供流体驱动压力,使柔性抓取执行器的柔性下颚实现闭合,进一步实现水下抓取作业。能够通过调整流体压力的大小调整不同的咬合力,经过仿真实验分析,并且根据所抓取的物品所能承受的最大抓取力进行0‑18N的调整,可以满足对水下部分样本或者生物的抓取;柔性抓取执行器由硅胶柔性材料制作,成本低,易于制作。


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    Title :

    Bionic dolphin flexible grabbing actuator and method


    Additional title:

    一种仿生海豚柔性抓取执行器及方法


    Contributors:
    DONG HUACHAO (author) / LUO YIYAN (author) / CAI JINSI (author) / LIU JIE (author) / TAN GUOPAN (author)

    Publication date :

    2021-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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