Variable-stiffness pneumatic software driver based on particle blocking

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...

AI Technical Summary

Problems solved by technology

However, dielectric elastomers require high voltage, are poor in safety and are not easy to realize; layered blocking uses friction between thin layers to achieve stiffness changes, but its production is more complicated and material selection is difficult

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