A Continuously Variable Stiffness Flexible Robot

Abstract

The invention discloses a continuous variable rigidity flexible robot. The continuous variable rigidity flexible robot comprises a variable rigidity device, an installing fixing device and a control device. The variable rigidity device comprises a first corrugated pipe, a second corrugated pipe, a first magnet, a second magnet, a third magnet, a fourth magnet and dull polish iron balls. The firstmagnet and the second magnet are fixed into hard pipes at the two ends of the first corrugated pipe correspondingly. A soft corrugated pipe at the middle portion of the first corrugated pipe is filledwith the multiple dull polish iron balls. The second corrugated pipe is fixed to the top of the first corrugated pipe. The third magnet and the fourth magnet are fixed into hard pipes at the two endsof the second corrugated pipe correspondingly. A soft corrugated pipe at the middle portion of the second corrugated pipe is also filled with the multiple dull polish iron balls. The interaction force between the dull polish iron balls is changed by controlling the intensity of a magnetic field, accordingly, the integral rigidity is changed, and the purpose of variable rigidity is achieved. A main shape of the robot cannot change. The advantages that the principle is simple, rigidity can be subjected to stepless regulation and control, the rigidity changing range is wide, the bearing force islarge, and the bending performance is good are achieved.

Description

technical field [0001] The invention relates to the technical field of flexible robots, in particular to a flexible robot with continuously variable stiffness. Background technique [0002] With the development of robot technology, soft robots have gradually entered our field of vision. Compared with rigid robots, soft robots have the characteristics of good bending performance, small footprint, and high safety index. Large load, poor control accuracy and other problems. The emergence of variable stiffness soft robots provides a way to solve this problem. [0003] The Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences introduced a variable-stiffness compliant grasping device (application number 201810616196.5). This design adjusts the distribution angle of each flexible mechanism branch chain through the gear transmission mechanism to adjust the stiffness state of the variable-stiffness flexible parallel mechanism , can continuously chang...

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Problems solved by technology

However, this invention has a large volume, and when the stiffness is changed, the main body of the parallel robot will have a large deformation, which cannot achieve the purpose of variable stiffness locking

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