A variable stiffness soft manipulator controlled by electrorheological fluid

Abstract

The invention provides a variable stiffness soft manipulator controlled by electrorheological fluid. The method of the present invention comprises a plurality of soft manipulator modules with variable stiffness and connecting parts for connecting the modules, the soft manipulator module with variable stiffness includes a soft manipulator body, a sealing device, a base, and a seal set inside the soft manipulator body Variable stiffness device, the variable stiffness device is filled with electrorheological fluid, by changing the magnitude of the voltage, the "liquid-solid-liquid" transformation of the electrorheological fluid is realized, thereby realizing the change of stiffness; The cavity is connected to the quick joint through the sealing device to deliver gas to make it bend. The invention can realize multi-degree-of-freedom movement, has a simpler structure than a rigid mechanical arm, has good flexibility, is convenient to disassemble and assemble, and has good portability. It can actively or passively adapt to complex structuring by changing its own structure, and realizes adjustable stiffness. ,Wide range of applications.

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 ...

AI Technical Summary

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

Images