Spiral type twisting soft-bodied robot module

Abstract

The invention discloses a spiral type twisting soft-bodied robot module and relates to a soft-bodied robot module. Though bending modules of an existing soft-bodied robot can form a hyper-redundant mechanical arm through series connection, the twisting freedom degree is still in lack, so that the problem that the motion forms are singular is caused; and meanwhile, by means of the spiral type twisting soft-bodied robot module, the problem that when a bending module achieves omni-directional motion, control difficulty is high can be solved. A central limiting strip of the spiral type twisting soft-bodied robot module sequentially penetrates a front end cap, an elastic main body and a rear end cap. Multiple spiral inner cavities are machined in the elastic main body and uniformly arranged inside the elastic main body with the central limiting strip as the center. The front end cap is arranged at the upper end of the elastic main body. Sealed connection is achieved between the front end cap and an upper opening of each spiral inner cavity. The rear end cap is arranged at the lower end of the elastic main body. Each spiral inner cavity corresponds to a connection pipe. A lower opening of each spiral inner cavity communicates with the corresponding connection pipe through the rear end cap. By means of the spiral type twisting soft-bodied robot module, a soft-bodied twisting robot is simple in motion form, easy and convenient to manufacture and easy to operate.

Description

technical field [0001] The invention specifically relates to a spiral torsion soft robot module. Background technique [0002] In recent years, with the emergence of new materials and the improvement of processing and manufacturing technology, there has been an upsurge in the study of soft robots worldwide. Soft robots are a new way of thinking in robot research, involving bionics, robotics, and soft materials. As well as disciplines such as control, its inspiration comes from molluscs that imitate nature. For a variety of controllable environments with clear tasks and negligible uncertainties, traditional robots rely on their high rigidity, high precision, fast speed, and good repeatability, making them widely used in industrial manufacturing, medical equipment, and aerospace. widely used. However, when the task is unpredictable and the environment is uncertain, it is necessary to ensure the safety of the robot's interaction with the environment and the human body. Altho...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a spiral torsion soft robot module to solve the problem that although the bending modules of the existing soft robot can be connected in series to form a super-redundant mechanical arm, they still lack the degree of freedom of torsion, resulting in a single movement form. At the same time, it can also solve the problem of difficult control when the bending module realizes omnidirectional movement

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