Multi-cylinder snake-like robot system based on pneumatic muscles

Abstract

The invention discloses a multi-cylinder snake-like robot system based on pneumatic muscles. Multi-cylinder elements formed by the pneumatic muscles serve as executing elements to drive movement of joints, and a function of completely simulating snake movement is achieved. A multi-cylinder snake-like robot based on the pneumatic muscles is mainly composed of the pneumatic muscles, connection pieces and a fixed plate. The shrinking movement range of the multi-cylinder elements formed by the pneumatic muscles which are stacked in a staggered manner is far larger than that of a single pneumatic muscle of the equal length. Each single multi-cylinder element can go forwards, retreat and swing, and a combination of the multi-cylinder elements can go forwards, retreat and swing in many directions. The multi-cylinder snake-like robot system based on the pneumatic muscles is driven by the multi-cylinder elements formed by the pneumatic muscles, has the beneficial effects of being large in output force and good in cleaning and anti-explosion performance, and can be used for teaching demonstration, obstacle crossing and part grabbing.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a multi-cylinder snake-like robot system based on pneumatic muscles. Background technique [0002] Snake robot has the advantage of small cross-section, and can do some work in a narrow space, so many universities design and research it. 中国专利201610259233.2、201310016188.4、201210552679.6提出采用磁驱动的蛇形机器人,中国专利201420096033.6、201510936582.9、20131.652111.6、201520702251.4、201410240391.4采取了电机驱动设计出蛇形机器人,中国专利201310315747.2提出一种气缸驱动的蛇形 Robot, Chinese patent 201320206773.6 also proposes a snake-shaped robot driven by a cylinder. The snake-shaped robot designed by the above patent cannot simulate the soft and changeable body of a snake because its joints are basically rigid components. As a flexible component, pneumatic muscles have a high power / mass ratio and a flexibility similar to human muscles, so they can be applied to bionic robots. Chinese patent 201120411072.7 proposes a ...

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中国专利201610259233.2、201310016188.4、201210552679.6提出采用磁驱动的蛇形机器人,中国专利201420096033.6、201510936582.9、20131.652111.6、201520702251.4、201410240391.4采取了电机驱动设计出蛇形机器人,中国专利201310315747.2提出一种气缸驱动的蛇形 Robot, Chinese patent 201320206773.6 also proposes a snake-shaped robot driven by a cylinder. The snake-shaped robot designed in the above patent cannot simulate the soft and changeable body of a snake because its joints are basically rigid components.

As a flexible component, pneumatic muscles have a high power / mass ratio and a flexibility similar to human muscles, so they can be applied to bionic robots. Chinese patent 201120411072.7 proposes a pneumatic muscle driven by three pneumatic muscles in parallel Actuated snake-like robots, but their range of motion and degrees of freedom of motion are limited by pneumatic muscles

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