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Soft robot based on SMA and SSMA driving

A robot and robot system technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited throughput, low output volume ratio, lack of stability, flexibility and environmental adaptability, etc., to achieve Precise control, good application prospects, and the effect of increasing flexibility and flexibility

Active Publication Date: 2014-12-03
北京神工科技有限公司
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AI Technical Summary

Problems solved by technology

Although rigid body robots have high motion accuracy, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; limited ability to pass in narrow spaces; low output volume ratio; control also more complicated

Method used

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  • Soft robot based on SMA and SSMA driving
  • Soft robot based on SMA and SSMA driving
  • Soft robot based on SMA and SSMA driving

Examples

Experimental program
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Embodiment Construction

[0029] The soft robot adopts dual SSMAs drive units for precise control; the flexible structure module of the soft robot is composed of 3D printed silicone shell and various springs of structural joints; the SMA drive module of the foot can realize the forward and backward drive of the foot structure. The three modules work together to complete the movement of the soft robot.

[0030] SSMAs Drive Feedback Unit Module

[0031] Such as Figure 4 Shown is a schematic diagram of the winding of the alloy wire in the SSMAs drive feedback unit. Due to the scattered distribution of the pulley rods, more SSMA and SMA alloy wires can be distributed inside the robot, making the system more sensitive.

[0032] Such as Figure 5 A schematic diagram of the SSMAs drive unit is shown. The robot has two sets of symmetrical SSMAs driving units. One SMA and one SSMA are connected in parallel on the pulley rod, and the two ends are connected by micro springs and other components, which is ca...

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Abstract

The embodiment of the invention provides a soft robot system which is applicable to detection operation of complex environments and unknown fields, based on SMA, self-feedback and SSMA driving, combines external feedback, and matches soft joints and rigid joints. The modules namely an SSMAs driver element module, a flexible mechanism module and foot SMA driver modules are provided, wherein electric current flowing through SSMAs is adopted to control the telescopic length of the SSMAs so as to control the integral contraction of the robot; the parallel structure of SMA and SSMA realizes SMA self-feedback and the external feedback of the SSMA, so that the accurate control on the soft robot is realized; an external 3D shell is used for connecting the front rigid part with the rear rigid part of the robot, so that the soft robot system has better flexibility; a square spring supports a flexible silica gel shell to provide restoring force and other power; two groups of SMA driver modules in front of and at back of each foot structure are controlled respectively, so that the feet motion is realized, and the motion of the robot is realized along with other units.

Description

technical field [0001] The invention is a soft robot system driven by shape memory alloy (SMA), combined with self-feedback and superelastic alloy (SSMA) external feedback, flexible joints and rigid body joints. It belongs to the field of special flexible robots. Background technique [0002] Although after years of development, robots have shown their talents in various fields, but most of the current robots are rigid-body robots made of metal and the like. Although rigid body robots have high motion accuracy, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; limited ability to pass in narrow spaces; low output volume ratio; control Also more complicated. However, if some structure and theories of bionics are used for reference, the software structure is used, and the control accuracy is guaranteed, the above shortcomings of the rigid robot can be avoided. [0003] At present, soft rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J11/00
Inventor 史震云刘喆袁培江陈冬冬
Owner 北京神工科技有限公司
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