A three-degree-of-freedom compliant actuator with a hybrid power source

Abstract

The invention discloses a three-freedom-degree smooth driver with a hybrid power source. The three-freedom-degree smooth driver is composed of three manual pneumatic muscles arranged in parallel, an end cover and a central fixing disc. Each manual pneumatic muscle is composed of a silicone tube internally with a spring, wherein the silicone tube is covered with a nylon woven sleeve. The two ends of each silicon tube are provided with ends stretching into the silicone tube, wherein an inflation and deflation connector is arranged at one end. Each silicon tube is further internally provided with a steel wire and a limiting piece for limiting the steel wire at the central axis of a line of the silicon tube, wherein one end of the steel wire is fixedly connected to the corresponding end, and the other end of the steel wire penetrates out of the corresponding manual pneumatic muscle through the other end. According to the three-freedom-degree smooth driver, the rigidity of the manual pneumatic muscles at the low-air-pressure condition is improved, the manual pneumatic muscles are easier to control in the motion process and can be automatically recovered to the initial linear state after air pressure is removed, and the various engineering requirements for high precision, high load bearing, large stroke, quick response and the like can be completely met.

Description

technical field [0001] The invention relates to the technical field of flexible driving, and more specifically relates to a three-degree-of-freedom compliant driver with a hybrid power source. Background technique [0002] As people's requirements for the ability of robots and workplaces are getting higher and higher. Soft robots have developed rapidly in recent years. Compared with traditional rigid robots, soft robots have the advantages of high flexibility and flexibility, and can work in various complex and dangerous environments and in environments where humans and machines blend together. In the past 10 years, developed countries in Europe and the United States have successively implemented a number of major scientific research projects on soft soft robots. From snake-like robots to elephant-trunk robots to octopus-like robots, the body structure of soft robots has become more and more "soft". Therefore, it is urgent to develop corresponding compliant actuators. [...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a three-degree-of-freedom compliant actuator with a hybrid power source. The high load-carrying and high-precision performance of the wire drive, and the wire is placed inside the artificial pneumatic muscle, which improves the control accuracy without changing the volume; in addition, the invention improves the structure of the traditional artificial pneumatic muscle, and the inside of the silicone tube A spring is set to increase the stiffness of the artificial pneumatic muscle under low air pressure conditions, making it easier to control during exercise, and it can automatically return to the initial straight state after the air pressure is removed, fully satisfying the high precision and high pressure requirements. Diverse engineering requirements such as bearing capacity, large stroke, and quick response

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