A Variable Stiffness Continuous Mechanism Based on Pneumatic Locking Principle

Abstract

The invention relates to a variable-stiffness continuous type mechanism based on an air pressure locking principle. The variable-stiffness continuous type mechanism comprises a continuous type mechanism body, a state switching device used for changing the stiffness and flexibility states of the continuous type mechanism body and a pose control system used for controlling the bending degree of the continuous type mechanism body; the continuous type mechanism body is formed by a base and joints through friction sliding blocks, the base and the joints are connected in series, one end of each joint is provided with a connecting disc with a square shaft hole, and the other end of each joint is provided with a first friction disk provided with a round shaft hole; and each friction sliding block comprises a second friction disk matched with the corresponding first friction disk. The state switching device comprises a cylindrical silica gel air bag, an air guide pipe and a port. The pose control system is composed of steel wires and a driving motor, one end of each steel wire is connected with the joints, and the other end of each steel wire is connected with the driving motor. By means of the variable-stiffness continuous type mechanism, the technologies of positive pressure control and air bag locking are adopted, the continuous type mechanism can be extremely high in stiffness in the locking state, the response speed is high, rigid and flexible state switching is rapid, and the beneficial effects that the stiffness is variable, the response speed is high, and the positioning stiffness is high are achieved.

Description

technical field [0001] The invention relates to the field of continuous mechanism design, in particular to a variable stiffness continuous mechanism based on the principle of air pressure locking. Background technique [0002] The continuous mechanism is a new type of bionic mechanism, which imitates biological organs such as snakes and elephant trunks. It has high movement flexibility and strong adaptability in complex environments, especially in non-structural structures with multiple obstacles. It can flexibly change its shape in environments with narrow environments and spaces. However, due to the high flexibility of the continuous mechanism, it also has the disadvantages of poor positioning rigidity and low control precision. In applications in medical and other fields, continuous mechanisms are often required to exhibit good flexibility and certain rigidity under certain conditions. For example, when a continuous mechanism is used for an endoscopic robot, its working...

AI Technical Summary

Problems solved by technology

[0003] In recent years, people have invented a variety of variable stiffness continuous mechanisms by using Jamming, low melting point alloy phase transformation, steel wire tension, negative pressure control, etc., but most of them show defects such as insufficient variable stiffness and insufficient response speed.

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