Active stiffness-variable long-arm type bionic soft robot

Abstract

An active stiffness-variable long-arm type bionic soft robot comprises base segments and a tail segment. Each base segment comprises a first elastic base body, first breather pipes, a first center driving cavity and at least three first side driving cavities, wherein the first elastic base body is cylindrical, the first center driving cavity is formed in the middle of the first elastic base body, the first side driving cavities are formed in one circle, outside the first center driving cavity, of the first elastic base body, the two ends of the first center driving cavity and the two ends of each first side driving cavity are closed, the first center driving cavity and the first side driving cavities are communicated with the first breather pipes, first center restraining parts are installed on the inner wall and the outer wall of the first center driving cavity, and first side restraining parts are installed on the inner wall and the outer wall of each first side driving cavity. The tail segment comprises a second elastic base body, second breather pipes, a second center driving cavity and second side driving cavities, wherein the second elastic base body is of a circular truncated cone shape, and the second breather pipes are communicated with the first breather pipes. The stiffness can be independently varied and dynamically controlled effectively in the grasping process.

Description

technical field [0001] The invention relates to the field of robots, in particular to a bionic soft robot. Background technique [0002] In recent years, soft robotics has become an emerging and promising research direction in the field of robotics. Traditional rigid robots are widely used in the industrial field due to their high rigidity, high strength, high precision and high speed. (such as housekeeping services, helping the elderly and the disabled, agricultural automation, medical rehabilitation, etc.), it is found that rigid robots that rely heavily on structured environments and precise mathematical models are difficult to describe with accurate mathematical models in the above-mentioned non-structural complex environments. When complex and changeable objects are used for interactive operations, the high rigidity, high strength, and high precision of rigid robots have become disadvantages that make them incompetent for such tasks. In this case, the research on soft...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of existing bionic soft robots that cannot realize independent variable stiffness and dynamic controllability in the process of grasping movement, the present invention provides an active controllable robot that can effectively realize independently variable stiffness and dynamic controllability in the process of grasping movement. Variable Stiffness Long Arm Bionic Soft Robot

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