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Soft-bodied rigidity variable drive device

A driving device and variable stiffness technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of non-adjustable stiffness, small stiffness adjustment range, complex structure, etc., and achieve the effect of improving use value and strong adaptability

Inactive Publication Date: 2019-01-11
NAT UNIV OF SINGAPORE SUZHOU RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there have been some good achievements in the field of flexible variable stiffness driving devices at home and abroad, but there are still some problems: the mechanism of the device is complicated, the stiffness adjustment range is too small or the stiffness cannot be adjusted
This technology has good environmental adaptability and a certain range of stiffness adjustment, but its complex structure is not convenient for practical operation

Method used

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Embodiment Construction

[0031] The technical solutions of the present invention will be described in detail below through embodiments with reference to the accompanying drawings. It should be noted here that these embodiments are all preferred embodiments of the present invention, which are used for explaining and understanding the present invention, and do not constitute limitations to the present invention.

[0032] The term "and / or" in this article is just an association relationship describing associated objects, which means that there may be three relationships, for example, A and / or B, which can mean: A exists alone, B exists alone, and A and B exist simultaneously. In the three cases of B, the term " / and" in this article is to describe another associated object relationship, which means that there can be two relationships, for example, A / and B, which can mean: there is A alone, and there are two cases of A and B alone , In addition, the character " / " in this article generally indicates that t...

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Abstract

The invention relates to a soft-bodied rigidity variable drive device. The soft-bodied rigidity variable drive device comprises a main body part, a tail end part and a rigidity variable structure. Themain body part comprises a first compressing face and a first bending face, the whole first compressing face is in a fold line shape, and the first bending face is straight in a natural state. A cavity structure is formed in the main body part, and the main body part can be driven by negative pressure to shrink so as to be integrally bent towards the first compressing face. The rigidity variablestructure comprises a plurality of hardboards obliquely fixed to the inner wall of the first bending face, and relative to the inner wall of the first bending face, the hardboards only have one degreeof freedom. The tail end part comprises a second compressing face, a second bending face and a connector. The tail end part is connected with one end of the main body part through the connector, thewhole tail end part is of a finger structure, and a cavity structure is formed in the tail end part. The soft-bodied rigidity variable drive device is relatively small in weight and relatively high inconveying speed and reaction sensitivity, the service life of the soft-bodied rigidity variable drive device is far longer than that of other transmission manners, and the rigidity variability of a soft-bodied drive device is creatively achieved through the negative pressure characteristic.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a software variable stiffness driving device. Background technique [0002] With the development of science and technology, robots have been widely used in many fields such as military affairs, industry, and scientific exploration. Traditional robots are generally composed of rigid modules connected by kinematic pairs, and each kinematic pair provides one (or more) planar degrees of freedom or rotational degrees of freedom. The motion combination of all kinematic pairs forms the working space of the robot end effector, which has high motion accuracy, but the rigidity of the structure makes the robot's environmental adaptability poor, and the motion in narrow spaces and other special spaces is restricted, which restricts the rigidity Applications of robots in certain fields. With the introduction of the concept of soft robots, the restrictions on the movement of robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/10
Inventor 郭朝沈浩马磊任钱伦钱伟
Owner NAT UNIV OF SINGAPORE SUZHOU RES INST
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