Variable rigidity soft body mechanical arm adopting electrorheological fluid control

Abstract

The invention provides a variable rigidity soft body mechanical arm adopting electrorheological fluid control. According to the method, the mechanical arm comprises multiple soft body variable rigidity mechanical arm modules and connecting portions used for connecting all the modules. Each soft body variable rigidity mechanical arm module comprises a soft body mechanical arm body, a sealing device, a base, and a variable rigidity device arranged in the soft body mechanical arm body. The variable rigidity devices are filled with electrorheological fluid, by changing voltage, fluid-solid-fluid conversion of the electrorheological fluid is achieved, and thus changing of the rigidity is achieved. Three air cavities are uniformly distributed around each soft body mechanical arm body, and the sealing devices and rapid connectors are connected to convey gas to bend the device. According to the mechanical arm, multi-freedom-degree motion can be achieved, compared with a rigid mechanical arm, the structure is simple, the flexibility is good, assembling and disassembling are convenient, the transportability is good, the mechanical arm can adapt to the complex structure by changing the self structure actively or passively, the rigidity is adjustable, and the application range is wide.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a variable stiffness soft manipulator controlled by electrorheological fluid. Background technique [0002] With the rapid development of the times and the continuous advancement of technology, people's demand for intelligent equipment is also increasing. In recent years, robots, as a typical representative, have also made great technological breakthroughs in technological innovation. The actuator parts of traditional rigid robots generally adopt space open chain link mechanism, which is connected by multiple kinematic pairs (including moving pair and rotating pair), which has high control precision, large carrying capacity and good rigidity. However, with the passage of time, the shortcomings of rigid robots have gradually emerged. Traditional rigid robots have high rigidity, poor adaptability in unstructured environments, low dexterity, small degrees of freedom, complex design ...

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Problems solved by technology

[0003] According to the above, the traditional manipulators have relatively high rigidity, poor adaptability to non-rigid structured environments, low dexterity, small degrees of freedom, complex design structures, limited work space, and the limited rigidity and non-adjustable technical problems of today's soft robots. And provide a variable stiffness soft manipulator module controlled by electrorheological fluid with multi-degree-of-freedom motion and adjustable stiffness

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