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Variable stiffness actuator

A technology of actuator and rigidity, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems of increasing the weight of the device and occupying the effective execution space of the device, achieving high safety, low power consumption, and low cost.

Inactive Publication Date: 2018-11-02
NAT UNIV OF SINGAPORE +1
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, traditional stacking stiffness adjustment mechanisms rely on particulate matter such as sand or coffee grounds, which add to the weight of the device and take up the device's effective implementation space

Method used

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Embodiment Construction

[0027] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

[0028] figure 1 A schematic structural view of a variable stiffness actuator according to an embodiment of the present invention is shown. The variable stiffness actuator can be applied to the end-operated actuators of soft robots, including an origami structure 1 , a top end plate 2...

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Abstract

The invention discloses a variable stiffness actuator. The variable stiffness actuator is suitable for a tail end operation executing mechanism of a soft robot, a one-way telescopic stacking type pile-up paper folding structure is adopted, the positive pressure and the negative pressure of the inner cavity of the paper folding structure are controlled, the stretching and compressing of the paper folding structure can be driven, and the rigidity adjustment of the actuator can be realized; and the invention further disclosed the soft robot having the variable stiffness actuator, the soft robot can be used for grabbing a non-structured irregular target grabbing object through the self-adaptive self-contained on-line variable rigidity adjustment. According to the actuator, the variable stiffness actuator has the advantages of being simple in structure, convenient to operate and low in cost; and in addition, softening and hardening are realized in a pneumatic manner of discharging and sucking gas, the variable stiffness actuator is relatively low in power consumption and relatively high in safety.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a variable stiffness actuator for soft robots. Background technique [0002] Soft robot is a new type of flexible robot. As an emerging and fast-growing field of robot manufacturing engineering, it has broad application prospects in the fields of human-computer compliant interaction and interaction between robots and unknown environments. Compared with traditional rigid robots, soft robots have less pressure load on the external output, and are not easy to cause damage or damage to objects in the environment, so they can be applied to many human-computer interaction occasions, such as rehabilitation robots and minimally invasive surgical robots. Taking minimally invasive surgery inside organisms as an example, soft robots will be particularly potential in minimally invasive endoscopic surgery, which allows flexible and controllable endoscopic actuators to minimize damage to s...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J19/00
CPCB25J9/14B25J19/00B25J19/0025
Inventor 任洪亮安吉·德邦迪
Owner NAT UNIV OF SINGAPORE
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