Variable-stiffness pneumatic software driver based on particle blocking

A technology of soft drive and variable stiffness, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems of difficult material selection, complicated production, and difficult realization, and achieves the advantages of improved response speed, increased volume, and large output force. Effect

Active Publication Date: 2019-01-22
JIANGXI UNIV OF SCI & TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, dielectric elastomers require high voltage, are poor in safety and are not easy to realize; layered blocking uses frict

Method used

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  • Variable-stiffness pneumatic software driver based on particle blocking
  • Variable-stiffness pneumatic software driver based on particle blocking
  • Variable-stiffness pneumatic software driver based on particle blocking

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0023] Such as Figure 1-Figure 4 As shown, a kind of variable stiffness pneumatic soft actuator based on particle blocking according to the present invention includes a blocking layer 1 and a driving layer 2; The deformable layer 6 and the second air tube 7 are expanded.

[0024] Part of the flexible film on the flexible capsule of the blocking layer is made of a material with high hardness and has a protruding cavity structure, which can increase the volume of blocking particles in the blocking layer, increase the maximum rigidity of the soft actuator, and reduce the gas volume required for the driving layer , which imp...

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Abstract

The invention discloses a variable-stiffness pneumatic software driver based on particle blocking. The variable-stiffness pneumatic software driver comprises a blocking layer and a driving layer whichare connected with each other in an upper-lower layer relationship manner, the driving layer is positioned on an upper layer and realizes bending deformation of the driver, and the blocking layer ispositioned on a lower layer and realizes variable stiffness of the driver by the aid of particle blocking. A flexible bag of the blocking layer is of a strip-shaped flexible film structure and comprises an upper portion and a lower portion, the section of an upper flexible film is semicircular, and the section of a lower flexible film is rectangular to form a cavity capable of being filled with blocking particles. The blocking particles show a flow state and a solid state in a non-vacuum state and a vacuum state, so that stiffness change of the blocking layer is realized. An expansion deformation layer of the driving layer comprises a plurality of equidistantly and linearly arranged expansion airbags with arched external structures and arched groove internal structures. Stiffness change ofthe driver is adjusted by stiffness change of the blocking layer in the non-vacuum state and the vacuum state.

Description

technical field [0001] The invention relates to a pneumatic soft actuator with variable stiffness based on particle blocking, which belongs to the field of soft robots. It has broad application prospects in the fields of exploration and rescue, object grasping, etc., and is suitable for grasping complex shapes, soft surfaces, and easy damage. objects. Background technique [0002] Drives in the traditional sense are mainly rigid structures, widely used in industrial production, special processing and medical rescue and other fields. Although the traditional rigid actuator has high controllability and high grasping stability, it is bulky, poor in adaptability, and low in flexibility. It is easy to cause damage, and safety cannot be guaranteed. Therefore, a software driver with strong self-adaptive ability, high flexibility, fast response and stable grasping has extremely high research potential. [0003] Existing soft actuators include chemical reaction drive, shape memory...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J9/00
CPCB25J9/0015B25J9/142
Inventor 胡俊峰梁龙林茂虎程亮亮
Owner JIANGXI UNIV OF SCI & TECH
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