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Variable-rigidity soft body driver, soft body arm and soft body platform based on blocking principle

A software driver, variable stiffness technology, applied in the field of robotics research, to achieve the effect of good environmental adaptability

Active Publication Date: 2018-03-06
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of adaptability to the environment is not possible with current rigid body-based robots

Method used

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  • Variable-rigidity soft body driver, soft body arm and soft body platform based on blocking principle
  • Variable-rigidity soft body driver, soft body arm and soft body platform based on blocking principle
  • Variable-rigidity soft body driver, soft body arm and soft body platform based on blocking principle

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Experimental program
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Embodiment Construction

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0053] Such as Figure 1 to Figure 6 As shown, a variable stiffness soft actuator based on the clogging mechanism includes a vacuum pump 200 and a unit module 100 .

[0054] The unit module 100 includes an inner flexible skeleton 110 , a trachea 120 , an outer flexible layer 130 , a wrapping layer 140 , a plugging mechanism 150 , a deformable plug 114 and a plugging plug 112 .

[0055] The inner flexible frame has a central through hole 111, and several deformation holes 113 are evenly distributed along the circumferential direction on the inner flexible frame located on the outer periphery of the central through hole. The number of deformation holes in the present invention is preferably three.

[0056] The outer flexible layer covers the outer periphery of the inner flexible frame, preferably the outer flexible layer is f...

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Abstract

The invention discloses a variable-rigidity soft body driver, soft body arm and soft body platform based on a blocking principle. A vacuum pump and a unit module are included. The unit module comprises an inner flexible framework, gas pipes, an outer flexible layer, a blocking mechanism, a deformation plug and a blocking plug. The inner flexible framework comprises a center through hole and deformation holes evenly distributed in the circumferential direction. The blocking mechanism is fixed in the center through hole and comprises supporting frameworks, elastic connection ropes, large ball particles, small ball particles, tightening springs and a sealing thin film. The elastic connection ropes sequentially penetrate symmetry centers of all the supporting frameworks. A containing cavity isformed between every two adjacent supporting frameworks. The containing cavities are filled with the large ball particles and the small ball particles. The corresponding gas pipes are arranged in theblocking mechanism and each deformation hole correspondingly. The other end of each gas pipe is connected with the vacuum pump. The variable-rigidity soft body driver, the soft body arm and the softbody platform have excellent adaptive capacity to the environment, and by means of the variable-rigidity principle, large flexibility can be achieved, and large rigidity can also be achieved.

Description

technical field [0001] The invention relates to the field of robot research, in particular to a variable stiffness soft actuator based on a blocking mechanism. Background technique [0002] In the field of robot research, it is no longer only required that robots have greater load capacity, greater rigidity, and higher precision, but also require robots to have better flexibility and environmental adaptability, such as the ability to pass through slit space robots. This kind of adaptability to the environment is not possible with current rigid-body-based robots. [0003] Aiming at this problem, the present invention studies a variable stiffness soft actuator based on the blocking mechanism. While the drive component has excellent flexibility, it can provide greater stiffness when greater stiffness is required, that is, through variable stiffness Mechanism, not only can have greater flexibility, but also can have greater rigidity, so it has excellent environmental adaptabili...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/08
Inventor 徐丰羽李剑
Owner NANJING UNIV OF POSTS & TELECOMM
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