A deformable soft robot

Abstract

The invention discloses a shape-shifting soft robot which comprises two driving units and a rotating shaft which is used for connecting the two driving units. Each driving unit comprises an elastic shell body and a framework arranged inside the elastic shell body. Each framework comprises a plurality of fluid cells and driving pipes with the quantity equal to the quantity of the fluid cells, and the fluid cells are connected in a heat-tail mode to define a ring. Each fluid cell comprises a cell wall and incompressible fluid arranged inside the cell wall. The driving pipes are arranged on the inner sides of the fluid cells, and each driving pipe is connected to every two adjacent fluid cells in a crossing mode. Each driving pipe is provided with magnetorheological fluid, a micro-electromagnetic device and a controller, wherein the micro-electromagnetic device is used for promoting the magnetorheological fluid to carry out solid-liquid conversion, and the controller is used for receiving and sending command information and controlling the operation of the micro-electromagnetic device. The shape-shifting soft robot can change the shapes continuously, can be applied to non-structural occasions conveniently, and is flexible to advance and turn.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a deformable soft robot. Background technique [0002] With the continuous development of science and technology, robots have been widely used in various fields of society, such as industry, medical treatment, agriculture, military and disaster relief. Traditional robot drive methods, such as rigid drive mechanisms such as wheel, leg, and swing walk, have shown unique advantages in some applications, but they are not suitable for unstructured applications such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, and military reconnaissance. In environmental applications, because the working environment is narrow, changeable and there are various unknown obstacles, it is relatively difficult for the robot to move autonomously and overcome obstacles, and it may not be possible to reach the work site. Inspired by the perfect fusion of rigid a...

AI Technical Summary

Problems solved by technology

Traditional robot drive methods, such as rigid drive mechanisms such as wheel, leg, and swing walk, have shown unique advantages in some applications, but they are not suitable for unstructured applications such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, and military reconnaissance. In environmental applications, due to the narrow and changeable working environment and various unknown obstacles, it is relatively difficult for the robot to move autonomously and overcome obstacles, and may not be able to reach the work site

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