Flexible robot based on piezoelectric drive and its control method

A technology of piezoelectric drive and control method, which is applied in the field of flexible robots and can solve the problems of low strength, low load of flexible robots, and poor stiffness.

Active Publication Date: 2021-02-26
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 drive and its control method
  • Flexible robot based on piezoelectric drive and its control method

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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 driven by piezoelectricity, which is composed of six driving feet connected to a cross-shaped PVC film, and crossed shape memory alloy springs and shape memory alloy wires are respectively arranged on the upper and lower surfaces of the PVC film. Using the vibration of piezoelectric bimorphs under the action of sine and cosine voltages, by exciting different piezoelectric bimorph groups, the robot can move forward, turn left, and turn right in a plane; use shape memory alloy springs to heat and shrink to return to the original length , so that the corresponding front legs, middle legs or rear legs of the robot are lifted, and at the same time, the shape memory alloy wire is used to heat and return to the original shape of the straight line, so that the corresponding front legs, middle legs or rear legs of the robot are dropped to realize the obstacle-crossing function of the robot. The invention combines the advantages of fast response and precise positioning of the piezoelectric drive and large deformation degree of the shape memory alloy, and realizes the plane movement and obstacle-crossing functions of the robot.

Description

technical field [0001] The present 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 and a control method thereof. 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 im...

Claims

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Application Information

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Patent Type & Authority Patents(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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