Flexible robot based on piezoelectric driving

A piezoelectric drive and robot technology, applied in the field of flexible robots, can solve the problems of low strength, low load and poor rigidity of flexible robots, and achieve the effects of avoiding slow response, precise positioning of deformation, and realizing plane movement and obstacle-crossing functions

Active Publication Date: 2018-11-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although soft robots have a high degree of freedom, flexible movement, and can actively or passively change their shape according to the surrounding environment, soft robots made of flexible materials have low load, poor stiffness, and low strength.

Method used

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  • Flexible robot based on piezoelectric driving
  • Flexible robot based on piezoelectric driving

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Embodiment Construction

[0037] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0038] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0039] Such as figure 1As shown, the flexible robot based on piezoelectric drive of the present invention includes a PVC film 1, a first driving foot 2 installed on the PVC film 1, a second driving foot 3, a third driving foot 4, a fourth driving foot 5, a first driving foot Five driving feet 6, the sixth driving feet 7, the first driving feet 2, the second driving feet 3, the third driving feet 4, and the fourth driving feet 5 are tilted forward at the same angle relative to the PVC ...

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Abstract

The invention discloses a flexible robot based on piezoelectric driving. The flexible robot based on piezoelectric driving is formed by connecting six driving feet to a cross-shaped PVC film, and shape memory alloy springs and shape memory alloy wires are separately arranged on the upper and lower surfaces of the PVC film, wherein the shape memory alloy springs and the shape memory alloy wires arearranged in a crossed mode. By using the vibration of piezoelectric bimorph under the action of sine and cosine voltages, the robot can move forward and turn left and right by exciting different piezoelectric bimorph sets. By using the characteristics that the shape memory alloy springs are heated and shrunk to restore the original length, a corresponding front leg, middle leg or rear leg of therobot is lifted, and meanwhile by using the characteristics that the shape memory alloy wires are heated to restore the original straight line shape, so that the corresponding front leg, middle leg orrear leg of the robot fall down, and the obstacle-crossing function of the robot is realized. The flexible robot based on piezoelectric driving combines the advantages of fast response, accurate positioning and large deformation degree of a shape memory alloy of piezoelectric driving to realize the planar motion and the obstacle-crossing function of the robot.

Description

technical field [0001] The invention relates to the field of ultrasound, the field of piezoelectric technology and the field of flexible robots, in particular to a flexible robot driven by piezoelectricity. Background technique [0002] For special applications such as precision medicine, military reconnaissance, and danger elimination, as well as the high-precision operation requirements of robots in dangerous, narrow spaces, and other variable environments, micro mobile robots benefit from the advantages of light weight, small size, and high mobility. It has broad application prospects in the fields of detection, micro-electromechanical assembly, micro-surgery, bioengineering, optical engineering, and distributed sensor networks. The piezoelectric actuator has the advantages of light weight, low noise, high displacement accuracy, large output torque, fast response, wide operating frequency and low power consumption, and has become an important new micro-displacement compon...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B25J9/10B62D57/032
CPCB25J7/00B25J9/1085B62D57/032
Inventor 毛婷彭瀚旻冒林丽
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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