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S-shaped soft-bodied robot

A robot and software technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of less research on snake-shaped soft robots, and achieve the effect of effective control methods

Active Publication Date: 2016-10-12
董润华
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There have been many theoretical studies on it before, but there are few studies on snake-like soft robots with meandering motion, and hard passive wheels are often required to achieve friction anisotropy to achieve the purpose of advancement

Method used

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  • S-shaped soft-bodied robot
  • S-shaped soft-bodied robot
  • S-shaped soft-bodied robot

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Experimental program
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Embodiment Construction

[0024] Below in conjunction with accompanying drawing and specific embodiment, the working principle of the present invention is described in detail:

[0025] like figure 1 and figure 2 As shown, a snake-shaped soft robot of the present invention is composed of a motion base 7, a power system 6 and a signal system 5; The soft material is hollow cast, including the outer wall 3 and the inner space 2 surrounded by the outer wall 3 and the air passage 4 connecting the inner space 2. The inner space 2 of the unit body 1 is completely air-tight except for the air intake pipe.

[0026] The working principle of the invention is as follows:

[0027] The arrangement of unit body 1 in the motion matrix is ​​as follows figure 2 As shown, the changes of each section after inflating the inner space 2 are as follows image 3 As shown in the figure, only one side of the symmetrically arranged unit body is always inflated during the movement. At this time, the compression of the interna...

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Abstract

The invention discloses an S-shaped soft-bodied robot which consists of a movement base body, a power system and a signal system, wherein the movement base body consists of a plurality of bilaterally symmetric unit bodies that are made of complete soft material in a hollow casting manner; the unit bodies comprise outer walls, inner spaces enclosed by the outer walls, and air passages communicated with the inner spaces; the inner spaces, except air inlet pipes, of the unit bodies are completely air-tight; the power system mainly comprises an air pump and magnetic valves; the quantity of the magnetic valves accords with that of the unit bodies; and opening and closing of a magnetic valve assembly are controlled by the signal system. Based on the bionics principle, through rational utilization of the particular characteristics of the soft material, the soft unit bodies forming the movement base body are subjected to special structural design, so that the mechanics requirement of wriggling movement is met, and advancing, retrograde and turning movements of the soft-bodied robot are realized.

Description

technical field [0001] The invention relates to the technical field of soft machines, in particular to a snake-like soft robot. Background technique [0002] In recent years, soft robots with special soft properties have attracted the attention of many scientists and engineers. Due to the increasingly complex environment of robot applications, the application restrictions caused by the rigid components of traditional rigid robots are also increasing, such as more complex narrow spaces, exploration machines in pipeline spaces, or for human treatment, recovery, and even internal contact with the body. For some auxiliary machines implanted, due to the fear of hard components causing damage to pipelines and human tissues, traditional rigid robots can only flinch in the face of such an environment. The characteristics of soft robots, such as strong adaptability, soft force, and low destructiveness, can achieve good results in such an environment. If they are researched and devel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
CPCB25J9/065
Inventor 李鸿宇曹云腾陈曦闫渊
Owner 董润华
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