A thermally deformable cavity-driven crawling soft robot

Abstract

The invention relates to a crawling soft robot driven by a thermally deformable cavity, which is composed of a motion base, an actuation system, a foot expansion system and a signal system; the motion base is composed of three identical unit bodies, a head, and a first foot group and a second foot group. The joints of the three units are covered with air ring pads, so that the moving base can move smoothly. The actuator includes an outer wall and an inner cavity surrounded by the outer wall, and the inner cavity is completely air-tight; the actuation system includes an actuator, a heating system and a cooling system, and the operation of the heating system and the cooling system is controlled by a signal system . The foot expansion system incorporates an actuation system to change the direction of motion of the motion substrate. Based on the principle of bionics, the present invention makes special structural design on the soft unit modules constituting the base by rationally utilizing the special properties of soft materials, so as to meet the mechanical requirements for the movement of soft robots and realize the forward, turning and backward movements of soft robots.

Description

technical field [0001] The invention relates to a crawling soft robot driven by a thermal deformation cavity, in particular to a crawling soft robot that can be driven by a thermal deformation cavity to complete multiple degrees of freedom movements such as forward, backward without turning around, and turning in a working space. Soft robots. Background technique [0002] With the continuous development of human life and science and technology, robots have been widely used in various fields of society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide great convenience for humans. Traditional rigid robots The structure is usually assembled by motors, pistons, joints, hinges and other components. Although the power is sufficient, the power is large, and the performance is stable, in some non-structural environments, due to the limitation of size and working space, the autonomous movement and obstacle surmoun...

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Problems solved by technology

[0004] Based on the characteristics of the above soft materials, the present invention provides a new type of thermally deformable cavity-driven crawling soft robot using a pure soft material structure. solves the problem that ordinary soft robots cannot turn around quickly

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