Soft-body robot variable-rigidity joint module

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...

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 deformation force is provided by an electroactive polymer (Electroactive Polymer, EAP) soft driver, which has good Environmental adaptability can solve the problem of weak load capacity and insufficient rigidity of soft robots

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