Soft manipulator based on swallowing effect

• Main Authors: WANG YAMENG, YAO JIANTAO, XU YUNDOU, LI HAILI, ZHAO YONGSHENG, ZHANG SHUAI, WEI CHUNJIE, WANG ZHEN, ZHAO WUMIAN
• Format: Patent
• Language: Chinese; English
• Published: 29.11.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to a soft manipulator based on a swallowing effect, and belongs to the technical field of manipulators. The soft manipulator based on the swallowing effect comprises a swallowingpart, a shell part, a driving part and a control part for grasping objects, wherein the swallowing part includes a flexible air bag capable of folding from inside to form a long strip and a flexibleair bag fixing part for fixing the flexible air bag to the shell part, and an inflation space is formed between the long strip of the flexible air bag and the outer wall; and the driving part comprises a winding drum for rolling the flexible air bag into the long strip and an air pump for inflating the air inflation space, and the winding drum is driven by a direct current motor to rotate. The soft manipulator based on the swallowing effect is used for swallowing and grabbing the objects through the flexible air bag, and the flexible air bag can stably grab the various complex objects under the control, provide proper