CN109048980B - Pneumatic soft gripper of articulated endoskeleton - Google Patents
Pneumatic soft gripper of articulated endoskeleton Download PDFInfo
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- CN109048980B CN109048980B CN201811072040.1A CN201811072040A CN109048980B CN 109048980 B CN109048980 B CN 109048980B CN 201811072040 A CN201811072040 A CN 201811072040A CN 109048980 B CN109048980 B CN 109048980B
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- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 20
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 20
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 19
- 239000000835 fiber Substances 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 8
- 230000000903 blocking effect Effects 0.000 claims description 6
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 239000004945 silicone rubber Substances 0.000 claims description 3
- 239000004816 latex Substances 0.000 claims 1
- 229920000126 latex Polymers 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 239000007779 soft material Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000036544 posture Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 241000258957 Asteroidea Species 0.000 description 1
- 241000699670 Mus sp. Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
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- 230000000452 restraining effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pneumatic soft gripper for an articulated endoskeleton, which comprises a central palm part and a plurality of soft hand touch parts fixed on the periphery of the central palm part; the soft tentacle part comprises a plurality of joint parts which are connected in sequence; the joint part comprises an elastic telescopic layer and a plurality of supporting skeleton parts uniformly distributed in the elastic telescopic layer; the supporting skeleton part supports the inner cavity of the elastic telescopic layer and is connected with the elastic telescopic layer, and the supporting skeleton parts are hinged; an air hole is arranged in the middle of the supporting skeleton part; the front end of the joint part is provided with a fingertip bone part hinged with the supporting bone part; the rear end of the joint part is provided with a finger root skeleton part hinged with the supporting skeleton part; the interior between the adjacent joint parts is provided with a connecting skeleton part and a supporting skeleton part which are hinged; air holes are arranged on the connecting bone parts and the finger root bone parts; the connecting skeleton part and the finger root skeleton part are independently connected with air pipes; the elastic telescopic layer is internally filled with a plurality of circles of fiber constraint layers, and the constraint layers correspond to the outer parts of the air chambers; the invention improves the rigidity and the gripping capacity of the grip.
Description
Technical Field
The invention belongs to the field of soft holders, and in particular relates to a pneumatic soft gripper for an articulated endoskeleton.
Background
In modern industrial automation clamping and handling operating systems, pneumatic grippers are receiving increasing attention and application. However, most of the current pneumatic clamping devices are aimed at specific kinds and specifications of target objects, and it is generally difficult to meet the requirements for irregularly shaped objects and different operating environments. In order to overcome the strict limitation of the material and the shape of the clamping object, pneumatic soft claws are researched and developed. The pneumatic soft gripper uses superelastic materials such as silicone rubber, has high flexibility, can adapt to target objects with different shapes and sizes, has quick response, is light and is not easy to damage the gripped object, and meanwhile is safe and friendly to operators. The researchers at home and abroad use the advantages to develop a plurality of soft claws.
The invention of China patent 201620690558.1 is named as a soft three-finger robot, which is based on a structure of pneumatic drive control of soft materials, and aims to realize outward bending or inward bending gesture deformation of fingers to grasp objects by inflating or inhaling the channels in the fingers, and has high flexibility, but is limited by the nature of the materials, has lower output force and cannot grasp heavier objects effectively.
The U.S. patent US9464642B2, the Harvard scholars for the first time put forward a pure soft imitated starfish type paw which has a six-paw structure, is applied to the aspect of bioscience, can grasp vulnerable target bodies such as eggs, experimental mice and the like without damage, has good flexibility, but has serious radial expansion, and seriously reduces output efficiency.
At present, all types of soft claws mainly adopt pure soft materials, and the flexibility of the soft claws depends on the hardness of the soft materials to a great extent. The soft material itself is both an action driver and an end-gripping actuator, and although it is safe and flexible to grip multiple sizes and shapes, due to the limitations of the material itself, it lacks sufficient rigidity to grip objects of greater mass and forms a reliable constraint, and therefore there is a need for improvement in the selection of materials and development of new structures.
Disclosure of Invention
The invention aims to provide a pneumatic soft gripper for an articulated endoskeleton, which is used for realizing flexible gripping of target objects with various sizes and shapes, and particularly improving the rigidity and gripping capacity of the flexible gripper, and can be used for effectively gripping objects with larger mass.
The technical solution for realizing the purpose of the invention is as follows:
an articulated internal skeleton pneumatic soft paw comprises a central palm part and N (N is more than or equal to 3) soft hand touching parts fixed on the periphery of the central palm part;
The soft tentacle part comprises M (M is more than or equal to 3) joint parts which are connected in sequence; the joint part comprises an elastic telescopic layer and a plurality of supporting skeleton parts uniformly distributed in the elastic telescopic layer; the supporting skeleton part is used for supporting the inner cavity of the elastic telescopic layer and dividing the inner cavity of the elastic telescopic layer into a plurality of air chambers; the supporting skeleton parts are connected with the elastic telescopic layer and are hinged in sequence; an air hole is arranged in the middle of the supporting skeleton part, and each air chamber is communicated; the front end of the joint part at the front end is provided with a fingertip skeleton part used for blocking the front end of the soft hand-touching part, and the fingertip skeleton part is hinged with the adjacent supporting skeleton part; the rear end of the joint part at the tail end is provided with a finger root bone part for blocking the rear end of the soft touch hand part, and the finger root bone part is hinged with the adjacent supporting bone part; a connecting skeleton part is arranged in the adjacent joint parts, and the connecting skeleton part is hinged with the adjacent supporting skeleton part; air holes are formed in the connecting skeleton part and the finger root skeleton part and are used for communicating air chambers of corresponding joint parts; the connecting skeleton part and the finger root skeleton part are respectively and independently connected with an air pipe for independent air supply; the elastic telescopic layer is internally filled with a plurality of circles of fiber constraint layers; the fiber confinement layer corresponds to an outer perimeter of the air chamber.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The articulated type internal skeleton pneumatic soft paw is characterized in that the soft tentacle part is embedded with an articulated type skeleton structure comprising mutually hinged supporting skeleton joints and connecting skeleton parts, so that the rigidity is greatly improved while the high flexibility is maintained.
(2) According to the pneumatic soft gripper with the articulated inner skeleton, the elastic telescopic layer bears the driving function, and the force generated in the grabbing process is transmitted to the central palm part through the articulated inner skeleton, so that the grabbing capacity of the soft gripper is effectively improved.
(3) According to the articulated type endoskeleton pneumatic soft paw, the fiber reinforcement layer is embedded in the elastic telescopic layer, so that the radial deformation of fingers is limited, the appearance of the fingers is kept, and the bending efficiency is improved.
(4) According to the articulated type internal skeleton pneumatic soft paw, the multi-section joint parts are independently controlled, so that the degree of freedom of fingers is increased, more deformation positions of the fingers can be completed, and the clamping diversity of the paw is improved.
(5) The joint type internal skeleton pneumatic soft paw can be used for inflating multiple sections of joints in parallel, so that the response speed of fingers is remarkably improved.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of the articulated endoskeleton pneumatic soft hand claw of the present invention.
Fig. 2 is a schematic diagram of the central palm section structure.
FIG. 3 is a schematic view of the structure of a soft touch portion.
Fig. 4 is a schematic view of a supporting skeletal joint structure.
Fig. 5 (1-4) are schematic diagrams of finger deformations supplied to each joint of a soft touch portion of three joints, respectively.
FIG. 6 is a schematic diagram of the operation of the articulating endoskeleton pneumatic soft paw enveloping grip of the present invention.
FIG. 7 is a schematic diagram of the operation of the articulated endoskeleton pneumatic soft paw fingertip grip of the present invention.
Detailed Description
For the purpose of illustrating the technical scheme and technical purposes of the present invention, the present invention is further described below with reference to the accompanying drawings and specific embodiments.
1-4, The pneumatic soft gripper for the joint type endoskeleton comprises a central palm part 2 and N (N is more than or equal to 3) soft hand touching parts 3 uniformly fixed on the central palm part 2 for a circle; the soft touch hand part 3 comprises M (M is more than or equal to 3) joint parts which are connected in sequence; the joint part comprises an elastic telescopic layer 4 and a plurality of supporting skeleton parts 15 uniformly distributed in the elastic telescopic layer; the supporting skeleton part 15 is used for supporting the inner cavity of the elastic telescopic layer 4 and dividing the inner cavity of the elastic telescopic layer 4 into a plurality of air chambers; the supporting skeleton parts 15 are connected with the elastic telescopic layer 4, and the supporting skeleton parts 15 are sequentially hinged, so that a rotation range of 45 degrees outwards and 180 degrees downwards can be realized; an air hole 14 is arranged in the middle of the supporting skeleton part 15 and is used for communicating the air chambers; the front end of the joint part at the front end is provided with a fingertip bone part 6 for blocking the front end of the soft hand touch part 3, and the fingertip bone part 6 is hinged with the adjacent supporting bone part 14; the rear end of the joint part at the tail end is provided with a finger root bone part 11 for blocking the rear end of the soft touch hand part 3, and the finger root bone part 11 is hinged with the adjacent supporting bone part 15; a connecting skeleton part 12 is arranged in the adjacent joint parts for connection, and the connecting skeleton part 12 is hinged with the adjacent supporting skeleton part 14; air holes are formed in the connecting skeleton part 12 and the finger root skeleton part 11 and are used for communicating air chambers of corresponding joint parts; the connecting skeleton part 12 and the finger root skeleton part 11 are respectively and independently connected with an air pipe 16, so that independent air supply of each joint part can be realized; the elastic telescopic layer 4 is internally filled with a plurality of circles of fiber constraint layers 7; the fiber restraining layer 7 corresponds to the outer circumference of the air chamber and is used for limiting the radial expansion of the soft touch hand 3 so as to improve the rigidity of the soft touch hand 3 and the capability of the fingers to hold heavy objects.
Further, the elastic telescopic layer 4 comprises a semicircular telescopic layer positioned at the upper end and a flat plate-shaped contact layer 5 positioned at the lower end, and the telescopic layer and the contact layer 5 together form the elastic telescopic layer 4 similar to a trunk structure; the telescopic layer upper end is equipped with a plurality of slots along circumference to increase the length of elasticity telescopic layer 4 downwarping, 5 lower extreme equidistant a plurality of lines that are equipped with of contact layer, dull and stereotyped shape has increased area of contact, and the line has increased contact friction.
Further, the elastic expansion layer 4 is adhered with the supporting skeleton part 15, the fingertip skeleton part 6, the connecting skeleton part 12 and the finger root skeleton part 11 through strong soft glue; in order to increase the bonding contact area, the bonding strength is ensured; the upper ends of the supporting skeleton part 15, the fingertip skeleton part 6, the connecting skeleton part 12 and the finger root skeleton part 11 are respectively provided with an arc-shaped clamping groove 24, a plurality of bulges are arranged in the telescopic layer at equal intervals, and the bulges are clamped in the clamping grooves 24 and then bonded; the position of the supporting skeleton part 15 relative to the telescopic layer can be positioned through the matching of the clamping groove 24 and the bulge, and meanwhile, the contact area is increased, and the connection strength is ensured. Preferably, two clamping grooves 24 are formed on the connecting skeleton portion 12, so as to further increase the connection strength between the adjacent elastic expansion layers 4.
Further, a supporting ring 8 is arranged between the adjacent joint parts; the support ring 8 is arranged in the elastic expansion layer 4 and corresponds to the position of the connecting skeleton part 12, and is used for supporting the adjacent elastic expansion layer 4, the length of the support ring 8 is smaller than the length of the connecting skeleton part 12 (the length direction is the flexible direction of the soft touch hand part 3), the elastic expansion layer 4 and the connecting skeleton part 12 cannot be degummed in the expansion process through the support ring 8, so that the failure of independent air supply caused by air chamber communication between adjacent joint parts is avoided, the length of the support ring 8 is smaller than the length of the connecting skeleton part 12, and the influence of the overlong support ring 8 on the bending of the transition section between the adjacent elastic expansion layers 4 is avoided.
Further, the elastic expansion layer 4 is made of silicon rubber. Firstly, preparing an inner layer, arranging a plurality of circles of fiber restraint layers 7 outside the inner layer, then preparing an outer layer, and wrapping the whole fiber restraint layers 7 inside.
Preferably, the room temperature vulcanized silicone rubber with low hardness, high elasticity, high stability and low shrinkage is selected.
Furthermore, the central palm portion 2 is integrally formed by adopting a 3D printing technology, and can be made of resin materials such as PLA or ABS, and the like, so that the central palm portion has sufficient rigidity. The central palm portion 2 liter section is equipped with a plurality of screw holes 1, can be used to the installation of flange.
Furthermore, the center of the central palm portion 2 is cylindrical, a plurality of connecting columns 21 are uniformly arranged outside the cylinder, connecting holes are formed in the connecting columns 21, connecting shafts are arranged at the tail ends of the soft touch portions 3 and are fixedly connected through bolts, and the angle pose of the soft touch portions 3 relative to the central palm portion 2 can be achieved through the connecting shafts. By setting the included angle between the axial direction of the connecting column 21 and the axial direction of the cylinder of the central palm part 2, the opening angle of the tail end of the soft touch hand part 3 relative to the central palm part 2 can be adjusted.
The air pipe 16 adopts a flexible emulsion air pipe, and is bonded and sealed with air holes on the connecting bone part 12 and the finger root bone part 11 through strong soft glue.
Furthermore, the skeleton part is integrally formed by adopting a 3D printing technology, and resin materials such as PLA or ABS can be selected, so that the skeleton part has enough rigidity and simultaneously maintains portability.
Furthermore, each air pipe 16 is controlled by a proportional pressure valve to input air pressure, and a flexible bending sensor is further arranged in the telescopic layer to feed back the bending angle value in real time so as to accurately control the bending angle of each soft touch hand 3.
Taking a soft touch part 3 of three joints as an example for explanation: according to the articulated type endoskeleton pneumatic soft paw, three sections of finger sections of a soft touch hand 3 are independently controlled through the air pipes 16, and each air pipe 16 is controlled by a proportional pressure valve to input air pressure, so that various postures can be obtained. When compressed gas is introduced, the soft touch hand 3 generates stretching deformation under the action of air pressure, so that the inner skeleton joint is driven to rotate inwards, and bending angular displacement is obtained. Referring to fig. 5, (1) in fig. 5 is a schematic diagram showing the deformation of the soft finger of the front end finger section driven alone. Fig. 5 (2) is a schematic diagram showing a modification of the soft finger of the middle finger section driven alone. Fig. 5 (3) is a schematic diagram showing the variation of the soft finger of the end finger segment driven alone. Fig. 5 (4) is a schematic diagram showing a variation of driving the entire soft touch portion 3 at the same time. Through the separate control of the three-finger sections, the paw can obtain rich positions and postures, and meanwhile, the three-section parallel ventilation design can improve response time less and work efficiency.
The articulated type internal skeleton pneumatic soft paw can realize grabbing work with various grabbing postures:
Envelope grabbing mode: with reference to fig. 6, for a large-sized, large-mass target object 23, the soft gripper is preferably selected in a enveloping gripping manner. According to the shape and size of the target object 23, the input air pressure of the three finger sections is sequentially adjusted, the relation between the input air pressure and the bending angle can be obtained through experimental data test, and a flexible bending sensor can be built in a soft finger to feed back the bending angle value in real time. When three fingers are attached to a target object to finish enveloping grabbing, the input air pressure is continuously increased according to the mass of the object, and stable grabbing is finished. The textured contact layer has good adaptability, and can be effectively attached to the contour of an object, so that the gripping capability is improved.
Finger tip grip: with reference to fig. 7, for small-sized, low-mass target objects 23, the soft gripper prefers a finger-tip grip. The input air pressure of the two latter finger sections is adjusted to a smaller initial opening angle of the finger according to the shape and size of the target object 23. When the soft finger reaches the expected position, the input air pressure of the front finger segment is regulated to enable the fingertip to contact the object, and the input air pressure is continuously increased to finish stable grabbing of the target object.
The pneumatic soft hand claw of the joint type inner skeleton, disclosed by the invention, completes bending action through pneumatic drive, and limits the axial extension and radial expansion of the soft hand contact part 3 through the inner skeleton formed by the supporting skeleton part 15 and the connecting skeleton part 12, so that the force generated in the grabbing process is born and transferred to the central palm part 2, and the grabbing force is greatly improved. The inner skeleton and the soft material form an inner air cavity, when compressed air is introduced, the skeleton limits the deformation of the front and back parts and the bottom part of the cavity, and the soft material in the middle is axially stretched and deformed under the action of air pressure, so that the bottom hinged skeleton joint is driven to rotate around the hinge shaft, and a bending action is formed. The expected hand claw gripping posture is obtained by controlling the pressure of a plurality of knuckle inner cavities of the soft finger, and the soft driving flexibility and the rigidity provided by the inner skeleton can realize the gripping of objects with various sizes, various shapes and various weights.
Claims (8)
1. The pneumatic soft gripper for the joint type endoskeleton is characterized by comprising a central palm part (2) and N more than or equal to 3 soft contact parts (3) fixed on the central palm part (2) in a circle;
The soft touch part (3) comprises more than or equal to 3 joint parts which are connected in sequence; the joint part comprises an elastic telescopic layer (4) and a plurality of supporting skeleton parts (15) uniformly distributed in the elastic telescopic layer; the supporting skeleton part (15) is used for supporting the inner cavity of the elastic telescopic layer (4) and dividing the inner cavity of the elastic telescopic layer (4) into a plurality of air chambers; the supporting skeleton parts (15) are connected with the elastic telescopic layers (4), and the supporting skeleton parts (15) are hinged in sequence; an air hole (14) is arranged in the middle of the supporting skeleton part (15) and is used for communicating the air chambers; the front end of the joint part at the front end is provided with a fingertip skeleton part (6) for blocking the front end of the soft touch part (3), and the fingertip skeleton part (6) is hinged with the adjacent supporting skeleton part (15); the rear end of the joint part at the tail end is provided with a finger root bone part (11) for blocking the rear end of the soft touch part (3), and the finger root bone part (11) is hinged with the adjacent supporting bone part (15); a connecting skeleton part (12) is arranged in the adjacent joint parts, and the connecting skeleton part (12) is hinged with the adjacent supporting skeleton part (15); air holes are formed in the connecting skeleton part (12) and the finger root skeleton part (11) and are used for communicating air chambers of corresponding joint parts; the connecting skeleton part (12) and the finger root skeleton part (11) are respectively and independently connected with an air pipe (16) for independent air supply; the elastic telescopic layer (4) is internally filled with a plurality of circles of fiber constraint layers (7); the fibre-constraining layer (7) corresponds to the outer perimeter of the air chamber.
2. The pneumatic soft gripper of the joint type endoskeleton according to claim 1, wherein the elastic telescopic layer (4) comprises a semicircular telescopic layer at the upper end and a flat contact layer (5) at the lower end, and a plurality of grooves are circumferentially arranged at the upper end of the semicircular telescopic layer at the upper end; the lower end of the contact layer (5) is provided with a plurality of lines at equal intervals.
3. The pneumatic soft gripper of the joint type endoskeleton according to claim 2, wherein the elastic telescopic layer (4) is bonded with the supporting skeleton portion (15), the fingertip skeleton portion (6), the connecting skeleton portion (12) and the finger root skeleton portion (11); the upper ends of the supporting skeleton part (15), the fingertip skeleton part (6), the connecting skeleton part (12) and the finger root skeleton part (11) are respectively provided with an arc-shaped clamping groove (24), a plurality of bulges are arranged in the semicircular telescopic layer at equal intervals at the upper end, and the bulges are clamped into the clamping grooves (24).
4. A pneumatic soft hand claw for an articular-type endoskeleton according to claim 3, characterized in that a supporting ring (8) is also provided between adjacent articular-portions; the supporting ring (8) is arranged in the elastic telescopic layer (4) and corresponds to the position of the connecting skeleton part (12); the length of the support ring (8) is smaller than the length of the connecting bone parts (12).
5. The articulated endoskeleton pneumatic soft gripper according to claim 1, wherein the elastically stretchable layer (4) is made of silicone rubber; the central palm part (2) and the skeleton part are made of resin materials.
6. The pneumatic soft gripper for the joint type endoskeleton according to claim 1, wherein the center of the central palm portion (2) is cylindrical, a plurality of connecting columns (21) are uniformly arranged outside the cylinder, connecting holes are formed in the connecting columns (21), connecting shafts are arranged at the tail ends of the soft hand contact portions (3), and the connecting shafts are arranged in the connecting holes.
7. The pneumatic soft hand claw of the joint type endoskeleton according to claim 2, wherein each air pipe (16) is controlled by a proportional pressure valve to input air pressure, a flexible bending sensor is further arranged in a semicircular telescopic layer at the upper end, and bending angle values are fed back in real time to control the bending angle of each soft hand claw (3).
8. The articulating endoskeleton pneumatic soft hand claw according to claim 1, wherein the gas pipe (16) is a flexible latex gas pipe.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811072040.1A CN109048980B (en) | 2018-09-14 | 2018-09-14 | Pneumatic soft gripper of articulated endoskeleton |
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| CN201811072040.1A CN109048980B (en) | 2018-09-14 | 2018-09-14 | Pneumatic soft gripper of articulated endoskeleton |
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| CN109048980A CN109048980A (en) | 2018-12-21 |
| CN109048980B true CN109048980B (en) | 2024-10-18 |
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| CN110497579B (en) * | 2019-07-25 | 2021-11-26 | 广东轻工职业技术学院 | Investment casting method of pneumatic soft machine gripper |
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| CN111360866B (en) * | 2020-03-31 | 2022-07-22 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
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| CN111496835A (en) * | 2020-05-12 | 2020-08-07 | 广东省第二人民医院（广东省卫生应急医院） | Inner skeleton bionic finger and bionic manipulator |
| CN111409088A (en) * | 2020-05-12 | 2020-07-14 | 广东省第二人民医院（广东省卫生应急医院） | Bionic manipulator |
| CN111660317B (en) * | 2020-05-29 | 2022-02-08 | 清华大学 | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture |
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| CN107081744A (en) * | 2017-05-22 | 2017-08-22 | 清华大学 | Bellows fluid drive lacking articulated robot finger apparatus |
| CN209022098U (en) * | 2018-09-14 | 2019-06-25 | 南京理工大学 | An articulated endoskeleton pneumatic soft gripper |
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| CN109048980A (en) | 2018-12-21 |
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