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Bionic soft robot

A robot and software technology, applied in the field of robots, to achieve the effects of excellent load capacity, expanded application fields, and flexible design

Pending Publication Date: 2019-03-29
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In summary, although the existing small soft robots have tried to improve terrain adaptability, their terrain adaptability under complex natural conditions (smooth or rough surface, dry or wet surface, larger slope, high temperature or low temperature surface) And the load capacity still needs to be improved urgently, so as to improve the practical application ability of the robot

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] The present invention will be further described below with reference to the drawings and embodiments.

[0030] Such as figure 1 , 2 , A bionic soft robot, including a rectangular parallelepiped torso, forefoot and hindfoot, and energy supply modules. The dimensions of the robot’s torso, forefoot and hindfoot are between centimeters and millimeters. The surface of the forefoot and hindfoot bottom is microscopic The array structure is micron level; the forefoot and hindfoot are made of silicone rubber material polydimethylsiloxane, fixedly connected to the ends of the trunk, and the lower surface has a triangular prism array structure with the same structure, oriented along the direction of movement and the orientation is consistent ( Such as image 3 ), when the robot is walking, the ends of the triangular prism array at the bottom of the forefoot and hindfoot are in contact with the base as the walking surface; the trunk is made of graphene-polydimethylsiloxane composite ma...

Embodiment 2

[0040] Based on a biomimetic soft robot of Example 1, the rest of the structure remains unchanged. The body material can be replaced with ionic metal composites (IPMCs) with sulfonated polystyrene as the base. The front and rear ends of the robot are connected to an external power source through wires. The DC voltage is 3 to 5 volts, and the voltage cycle for the robot to complete a single forward movement is: the loading time is 60 seconds, and the unloading time is 60 seconds.

example 3

[0042] Based on a biomimetic soft robot of Example 1, the rest of the structure remains unchanged. The material of the trunk part can be replaced with a photodeformable liquid crystal elastomer (LCE) containing the long conjugated group of azobisphenylacetylene. The driving energy of the trunk is light. Yes, the energy supply module is a 365-nanometer wavelength ultraviolet light emitter. The light intensity of the light emitter is between 250 and 400 milliwatts per square centimeter. The light cycle for the robot to complete a single forward movement is: continuous light for 15 seconds, remove light 15 seconds.

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Abstract

The invention discloses a bionic soft robot. The bionic soft robot comprises a trunk, a forefoot, a hind foot and an energy supply module, wherein the front and rear ends of the trunk are connected with the forefoot and the hind foot respectively, and the trunk maintains suspended; the lower surface of the forefoot and the lower surface of the hind foot have asymmetric structures with consistent orientation, the tail ends of the asymmetric structures are in contact with a base as a walking surface, so that the friction force generated by the forefoot and the hind foot in the front and rear directions is unequal when the forefoot and the hind foot are in contact with the base as the walking surface. The trunk is a deformation body capable of undergoing reversible telescopic deformation, andthe energy supply module provides energy for the reversible telescopic deformation process of the trunk. The bionic soft robot has the advantages that the structure is simple, the sources of the driving energy is abundant, the movement is stable, the bionic soft robot can move in narrow closed space, has very strong environmental adaptation and load capacity and can move on smooth or rough surfaces, dry or wet surfaces, upslopes or downslopes, high or low temperature surfaces.

Description

Technical field [0001] The invention belongs to the field of robots, and relates to a bionic robot, in particular to a bionic soft robot. Can adapt to various complex environments. Background technique [0002] Software robotics technology has developed rapidly in recent years, and its application fields have continued to expand, involving medical treatment, exploration, rescue, military and so on. Compared with traditional robots composed of rigid modules, soft robots have extremely high degrees of freedom and deformability. They can effectively simplify the preparation process and reduce the complexity of the structure while achieving more diverse motion modes than traditional robots. The environment has better adaptability. When the size of the soft robot is further reduced (nano to centimeter level), it can enter more narrow or even closed environments to perform operations, making it possible for the robot to explore, search and rescue in pipelines, mountains or ruins, and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B25J11/00B25J9/08
CPCB25J9/08B25J11/00B62D57/02
Inventor 薛龙建汪鑫杨柏松刘胜
Owner WUHAN UNIV
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