Fully-compliant deformable robot with controllable rigidity

Abstract

The invention relates to a fully-compliant deformable robot with the controllable rigidity. The fully-compliant deformable robot with the controllable rigidity mainly comprises first fixing ends, sleeve shells, abrasive particle spheres, air suction fixing ends, first air bag rods, second air bag rods, first fixing ends, second telescopic sleeves, inflation control ends, seal nets and first telescopic sleeves. According to the fully-compliant deformable robot with the controllable rigidity provided by the invention, the rigidity of connecting rods can be controlled according to the demands ofdifferent occasions, so that a contact effect of a robot body and a contact substance can be better ensured, an original characteristic of a parallel mechanism can be ensured, and the fully-compliantdeformable robot can be deformed and moved through control; and when the rigidity of one section is lower, the mechanism at the section does not have the characteristic of the parallel mechanism, butthe joint part is flexible so as to be deformed at will, and an upper platform and a lower platform can be radially contracted to a small extent, so that the robot can favorably enter a complicated terrain and carry out suspension and sharp turning. The fully-compliant deformable robot with the controllable rigidity provided by the invention is fully compliant so as to have better performances during detecting and rescuing processes.

Description

technical field [0001] The invention relates to the technical fields of mechanics and robotics, in particular to a robot with controllable stiffness. Background technique [0002] As we all know, as a flexible and deformable robot, the snake-like robot is the most typical one. The snake-like robot has unique advantages. It has high softness, can climb over high obstacles, can drill into complex caves to detect information in caves, and can perform a series of tasks such as exploration, search and rescue, and guidance. There are a lot of researches on flexible and deformable robots at home and abroad. [0003] Patent CN201610259233.2 discloses a snake-like robot driven by magnetic force. The robot is driven by electromagnetic force and has a small size and convenient crawling movement. However, it cannot work in places with high magnetic fields and high metal permeability, and its working range is limited. [0004] Patent CN201620826631.3 discloses an active multi-wheel sna...

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Problems solved by technology

[0003] Patent CN201610259233.2 discloses a snake-like robot driven by magnetic force. The robot is driven by electromagnetic force and has a small size and convenient crawling movement. However, it cannot work in places with high magnetic fields and high metal magnetic permeability, and its working range is limited.

[0004] Patent CN201620826631.3 discloses an active multi-wheel snake robot with flexible transmission. The soft robot adopts an active multi-wheel snake robot with flexible transmission. The wheels are in contact with the ground so that the robot can move quickly on the road. Robotic Climbing and Obstacle Crossing Adds Difficulty

[0005] The utility model CN201720249348.3 proposes a snake-like robot based on a Delta parallel mechanism. The motion module of the robot adopts a Delta parallel mechanism with three degrees of freedom. Fast, but because the upper and lower platforms are rigid fixed platforms, the robot cannot pass through holes smaller in diameter than the upper and lower platforms, and the mechanism is prone to damage and cannot continue to work when it is impacted and squeezed by the outside world

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