Software robot actuator with rigidity independently controllable

An actuator and robot technology, applied in the direction of program control manipulators, manipulators, conveyor objects, etc., can solve problems such as damage to the flexibility of soft robots, small changeable range of stiffness, etc., to balance flexibility and load-bearing capacity, controllability Strong and broad application prospects

Inactive Publication Date: 2018-12-21
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also adding springs with higher stiffness to the structure damages the flexibility of the soft robot’s unique materials, and its stiffness adjustment is mainly realized by controlling the pressure of the compressed gas input from the drive chamber of the control center. This stiffness adjustment method has a relatively small range of stiffness changes.

Method used

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  • Software robot actuator with rigidity independently controllable
  • Software robot actuator with rigidity independently controllable
  • Software robot actuator with rigidity independently controllable

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0027] Such as figure 1 and figure 2 As shown, the independently controllable rigidity soft robot pneumatic actuator of the present invention includes a gas actuation part 1 and a stiffness adjustment part 2, the two parts are pasted and glued together, and the stiffness adjustment part 2 is in the gas Below the actuation part 1. The upper surface of the gas actuation part 1 is serrated, and the stiffness adjustment chamber 2-2 is glued on the lower surface of the gas actuation part 1 . The gas actuating part 1 and the stiffness adjusting part 2 respectively have an independent closed chamber, and the air pressure in the chamber is controlled by two external air sources respectively.

[0028] The gas actuated part 1 includes several pneumatic expansion chambers 1-2, t...

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Abstract

The invention provides a software robot actuator with rigidity independently controllable. The software robot actuator with rigidity independently controllable comprises a gas actuation portion and arigidity adjustment portion. The rigidity adjustment portion comprises a rigidity adjustment chamber and a granular medium yarn bag. The rigidity adjustment chamber is located at the bottom of the gasactuation portion. The granular medium yarn bag is tiled inside the rigidity adjustment chamber. The rigidity of the actuator is changed by changing the gas pressure in the rigidity adjustment chamber. The upper surface of the gas actuation portion is zigzag. The rigidity adjustment chamber is adhered to the lower surface of the gas actuation portion. The gas actuation portion comprises a plurality of gas actuation expansion chambers. Each gas actuation expansion chamber is arranged inside one single saw tooth, and every two adjacent gas actuation expansion chambers communicate with each other through an internal channel. According to the software robot actuator with rigidity independently controllable, the rigidity of the gas actuator can be changed on the premise that the motion flexibility is not affected, and the controllability is higher.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a soft robot actuator with independently controllable stiffness. Background technique [0002] Various research groups have various design concepts for soft robots, but almost all research groups have encountered the same problem, that is, how to improve the load-bearing capacity of soft robots while ensuring the unique flexibility of soft robots? This problem has become a research hotspot in many universities at home and abroad. At present, the relatively successful cases of improving the load-bearing capacity of soft robots can be divided into two categories: the internal modification of the actuator and the overall structural modification of the soft robot. [0003] To improve the stiffness of the soft actuator, Yingtian Li et al. designed a method of filling the silicon rubber actuator chamber with particles, so that when the air pressure changes from 20kPa to 80kPa, the actuator ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/00B65G47/90
CPCB25J9/00B25J9/0009B25J15/00B65G47/90
Inventor 徐琳张坤丁建宁刘春成吴聪程广贵张忠强王晓东
Owner JIANGSU UNIV
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