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Granular-material-clogging-based hybrid driving rigidity-controllable continuum robot

A hybrid drive and continuum technology, applied in the field of flexible robots, can solve the problems of reducing control accuracy and not being able to actively resist compression loads, achieving good adaptability and improving stiffness

Inactive Publication Date: 2018-08-28
HENAN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Particulate blocking drive can provide high support stiffness; artificial pneumatic muscle can produce high-speed and high-intensity large-scale motion, but it will bring nonlinearity to the system, such as dead zone and hysteresis, thereby reducing control accuracy; steel wire drive mechanism More accurate, but not actively resisting compressive loads

Method used

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  • Granular-material-clogging-based hybrid driving rigidity-controllable continuum robot
  • Granular-material-clogging-based hybrid driving rigidity-controllable continuum robot
  • Granular-material-clogging-based hybrid driving rigidity-controllable continuum robot

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Effect test

Embodiment 1

[0040] Such as Figure 1-7 As shown, a hybrid-driven controllable stiffness continuum robot based on granular blocking, the robot includes a first continuum unit 1,

[0041] The first continuum unit 1 includes a flexible support outer cylinder 22, which is a hollow cylindrical structure made of silicone material, and three flexible support outer cylinder through-holes 23 are evenly distributed along the circumferential direction of its two ends and correspondingly opened. A plastic inner pipe 26 is arranged concentrically;

[0042] In the annular area between the inner wall of the flexible support outer cylinder 22 and the outer wall of the plastic inner pipe 26, three partitions 24 are uniformly arranged along the circumferential direction of the annular area, dividing the annular area into three sealed cavities, each The interior of the sealed cavity is filled with granular bodies 25;

[0043] The plastic inner pipe 26 is a hollow cylindrical structure, and an artificial p...

Embodiment 2

[0049] Such as Figure 8 , 9 As shown, a hybrid-driven controllable stiffness continuum robot based on granular blockage, the robot includes three identical single continuum units connected in series end to end, which are respectively the first continuum unit 1 and the second continuum unit 2. The third continuum unit 3;

[0050] The first continuum unit 1 or the second continuum unit 2 or the third continuum unit 3 includes a flexible support outer cylinder 22, which is made of silica gel material, which is a hollow cylindrical structure, and is evenly distributed along the circumferential direction of its two ends. There are 9 through holes 23 in the outer cylinder of flexible support, and a plastic inner pipe 26 is arranged concentrically inside;

[0051] In the annular area between the inner wall of the flexible support outer cylinder 22 and the outer wall of the plastic inner pipe 26, three partitions 24 are uniformly arranged along the circumferential direction of the ...

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Abstract

The invention belongs to the technical field of flexible robots, in particular to a granular-material-clogging-based hybrid driving rigidity-controllable continuum robot. The robot comprises a plurality of identical single continuum units which are connected end to end in series; each single continuum unit comprises a flexible supporting outer barrel which is provided with multiple flexible supporting outer barrel through holes and is internally coaxially provided with a plastic inner pipeline; a plurality of separation plates are arranged in an annular zone between each flexible supporting outer barrel inner wall and the outer wall of the corresponding plastic inner pipeline, so that each annular zone is divided into multiple sealing cavities which are filled with granular materials; manual pneumatic muscles are inserted in the plastic inner pipelines; upper and lower sealing end covers are provided with upper and lower steel wire passage holes as well as upper and lower sealing end cover through holes; the lower sealing end covers are provided with manual pneumatic muscle drafting holes and sealing cavity drafting holes; and the upper sealing end covers, the flexible supporting outer barrels and the lower sealing end covers are integrally connected by steel wire ropes. The granular-material-clogging-based hybrid driving rigidity-controllable continuum robot is high in supporting rigidity, wide in moving range and accurate in positioning precision.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to a hybrid-driven controllable stiffness continuum robot based on granular blockage. Background technique [0002] Continuum robot is a current research hotspot. The continuum robot is made of soft or semi-soft materials, has a spineless flexible structure, has a continuously deformable body and more degrees of freedom. Compared with traditional rigid robots, continuum robots do not have discrete joints and rigid links, have excellent bending performance, and have good adaptability to unstructured environments and narrow and restricted working environments, such as search and rescue in narrow workspaces , minimally invasive surgery, etc. [0003] Foreign scholars have done a lot of research on continuum robots. Professor Walker and Gravagne of Clemson University in the United States have conducted a lot of research on the structure, algorithm and motion control technolog...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/06B25J9/10B25J17/00
CPCB25J9/00B25J9/065B25J9/104B25J9/1075B25J17/00
Inventor 岳龙旺魏垒石晓磊徐嘉辉
Owner HENAN UNIVERSITY OF TECHNOLOGY
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