Abstract: The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point.

Abstract: The present invention provides a chain plate flexible finger including a chain plate framework, a pneumatic elastic bellows artificial muscle, and a plastic annular frame. The axial expansion of the elastic bellows artificial muscle is restricted by the chain plate framework to overcome the elastic force of a tension spring to bend, to generate conformal contact between one or more chain plates and an object to be gripped and generate a contact force for a gripping state. With the control of a high-speed on-off valve, the air pressure in an inner cavity of the elastic bellows artificial muscle is accurately controlled to vertically or horizontally grip a cylindrical object, a cuboid object, a spherical object or an ellipsoid object. The flexible finger has adequate flexible adaptability and a simple structure, and is reliable to use, and adapts to differently shaped objects to be gripped and vertically and transversely placed objects.

Abstract: The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point.