Soft body bionic robot based on pneumatic muscles
A bionic robot and pneumatic muscle technology, applied in the field of bionic robots, can solve the problems of difficult motion control, limited degrees of freedom, incompetence, etc., to achieve precise pose control and increase the effect of movement space
Inactive Publication Date: 2018-04-13
JIAXING UNIV
View PDF7 Cites 4 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In some projects, traditional high-precision and high-rigidity robots are unable to meet the needs of some special situations due to their stiffness problems. Therefore, it is necessary to study soft robots
Chinese patent 201410406336.8 proposes an independently variable stiffness and dynamically controllable soft robot, but its degree of freedom is limited, and it cannot rotate itself like an elephant's trunk to grab objects of different sizes and shapes
Chinese patent 201610537449.0 proposes to control soft robots with different cavities in series, whose motion is difficult to control, and only has straight line and basic bending motion, and also does not have the motion of rotating around itself
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0014] Such as figure 1 As shown, the soft bionic robot system based on pneumatic muscles of the present invention includes: a fixed plate 1, a first layer of pneumatic muscles 2, a first layer of pneumatic muscles 2 3, a first layer of pneumatic muscles 3 4, a first layer of pneumatic muscles 4 5 , The first layer of pneumatic muscles 5 6, the first layer of pneumatic muscles 6 7, the fixed plate 2 8, the second layer of pneumatic muscles 1 9, the second layer of pneumatic muscles 2 10, the second layer of pneumatic muscles 3 11, the second layer of pneumatic muscles Muscle four 12, second pneumatic muscle five 13, second pneumatic muscle six 14, fixed plate three 15, third pneumatic muscle one 16, third pneumatic muscle two 17, third pneumatic muscle three 18, third muscle The third layer of pneumatic muscle 4 19, the third layer of pneumatic muscle 5 20, the third layer of pneumatic muscle 6 21, the fixed plate 4 22, the fourth layer of pneumatic muscle 1 23, the fourth lay...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a soft body bionic robot based on pneumatic muscles. The soft body bionic robot based on the pneumatic muscles comprises at least three fixed plates and the pneumatic muscles rotationally connected among the fixed plates; at least three sets of pneumatic muscles connected in series are rotationally connected between the first fixed plate and the second fixed plate in parallel; each set of pneumatic muscles connected in series are composed of at least three layers of pneumatic muscles connected in parallel, each layer of pneumatic muscles connected in parallel and the corresponding next layer of pneumatic muscles are rotationally connected through the corresponding fixed plate, each layer of pneumatic muscles are composed of six pneumatic muscles connected in parallel, and the two ends of each pneumatic muscle are rotationally connected with the corresponding fixed plates; and six pneumatic muscles are rotationally connected between the second fixed plate and thethird fixed plate in parallel. According to the soft body bionic robot based on the pneumatic muscles, the pneumatic muscles serve as moving elements for execution, the function of completely simulating movement of soft body animals such as snakes, cuttlefish and elephant noses or soft body joints of animals, the structure is compact, clean and good in anti-explosion performance, and the soft body bionic robot based on the pneumatic muscles can be used in the fields of teaching demonstration, object carrying, obstacle crossing, mine clearance and the like.
Description
technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a soft bionic robot based on pneumatic muscles. Background technique [0002] In the process of biological evolution, plants and animals have evolved some advantages for survival in order to adapt to the external environment. In the process of transforming nature, people can design some tools by drawing on the advantages of these plants and animals. Bionic is to use animals or plants to Some structural features or principle design tools of the system can solve engineering problems. In some projects, traditional high-precision and high-rigidity robots cannot meet the needs of some special situations due to their stiffness problems, so it is necessary to study soft robots. Chinese patent 201410406336.8 proposes an independently variable stiffness and dynamically controllable soft robot, but its degree of freedom is limited, and it cannot rotate itself like an elephant's trunk ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B25J9/00B25J9/06B25J9/10B25J9/14
CPCB25J9/0072B25J9/06B25J9/1075B25J9/14
Inventor 姜飞龙张海军
Owner JIAXING UNIV