Soft-body robot variable-rigidity joint module

A joint module and variable stiffness technology, applied in the field of robotics, can solve the problems of weak load capacity and insufficient stiffness of soft robots, and achieve the effect of good environmental adaptability and large load capacity

Inactive Publication Date: 2018-10-02
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the present invention provides a soft robot variable stiffness joint module driven by low voltage. The module is based on SMP material, and the deformatio...

Method used

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  • Soft-body robot variable-rigidity joint module
  • Soft-body robot variable-rigidity joint module
  • Soft-body robot variable-rigidity joint module

Examples

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Embodiment 1

[0036] refer to Figure 1-7 , the variable stiffness joint module of the soft robot in this embodiment includes an active deformation part 1 and a connecting part 2 .

[0037] The active deformation part 1 includes a heat-sensitive SMP variable-stiffness elastic matrix 3 , a flexible heating circuit 12 , an EAP software driver 7 and an elastic constrained layer 8 .

[0038] The cross-section of the SMP variable stiffness elastic matrix 3 is preferably rectangular, and the material of the heat-sensitive SMP variable stiffness elastic matrix 3 is preferably an SMP material with a low glass transition temperature. The SMP material can be formed by 3D printing, and the heat-sensitive SMP variable stiffness elastic matrix 3 is embedded Flexible heating circuit 12.

[0039] The flexible heating circuit 12 includes several flexible heating wire units 4, two flexible wires 5 and four cylindrical terminals 6, the topology of the flexible heating circuit 12 is preferably a parallel str...

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Abstract

The invention relates to a soft-body robot variable-rigidity joint module. The soft-body robot variable-rigidity joint module comprises an active deformation part and a connecting part, wherein the connecting part is connected to the active deformation part; the connecting part comprises an elastic matrix, cylindrical electrodes and sheet electrodes, wherein the cylindrical electrodes and the sheet electrodes are arranged on the elastic matrix; the active deformation part comprises a thermo-sensitive SMP variable-rigidity elastic matrix and EAP soft body drivers, wherein the EAP soft body drivers are arranged on the surface of the thermo-sensitive SMP variable-rigidity elastic matrix; and a flexible heating circuit is embedded in the thermo-sensitive SMP variable-rigidity elastic matrix, the cylindrical electrodes are connected to the flexible heating circuit, and grooves matched with the sheet electrodes of the connecting part are formed in the front end and the rear end of the EAP soft body drivers. Compared with the prior art, the soft-body robot variable-rigidity joint module has the advantages of being good in non-structural environment adaptability, and the active variable-rigidity regulation and control of the soft-body robot can be realized by utilizing the special property of the multi-element intelligent material.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a variable stiffness joint module of a soft robot. Background technique [0002] With the expansion of robot applications from industrial fields to social services, environmental surveys and other fields, the operating environment of robots has changed from a simple, fixed, and predictable structured environment to a complex, dynamic, and uncertain unstructured environment. Flexible, flexible, and collaborative development. Intelligence gives the robot stronger autonomous control capabilities, flexibility makes the robot better adaptable to the environment, and collaboration makes the robot safer. In the fields of high-end manufacturing, medical rehabilitation, national defense and security, traditional rigid robots can no longer meet the requirements. In recent years, researchers have attempted to apply the biological principles of molluscs to the research and design of robotic...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 王志鹏何斌沈润杰李鑫周艳敏
Owner TONGJI UNIV
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