An energy recovery type soft robot and its movement method

Abstract

An energy recovery type soft robot and its movement method, the robot includes a flexible cavity body, flexible feet uniformly distributed on the outer surface of the flexible cavity body, and are sequentially arranged in the flexible cavity body from front to back along the moving direction of the soft robot The vibration exciter, control module and power supply module; its main motion structure is the flexible foot with a certain angle to the surface of the flexible cavity body. Through the control module, the vibration exciter generates a certain frequency of vibration and transmits it to the flexible cavity. The tentacles make it quickly collide with the contact surface back and forth. Under the action of the elastic force and the friction of the contact surface, the soft robot will have a forward movement behavior; the robot's movement mechanism is simple in shape and easy to manufacture. Energy recovery is achieved, and fast movement behavior can be achieved with only a small energy input. And because the robot's motion structure uses flexible materials, the robot has good environmental adaptability and human-computer interaction safety.

Description

technical field [0001] The invention relates to the field of robots, in particular to an energy recovery soft robot and a movement method thereof. Background technique [0002] Traditional robots are mostly made of steel and other metals, which usually have particularly high strength and hardness. Through reasonable design, they can achieve very fast movement speed and extremely fine movement precision. The role of traditional robots in our daily life is very important, and it has realized many functions that are difficult to achieve only by humans. However, traditional robots also have many shortcomings, which are difficult to overcome at present, such as excessive strength and hardness, which are easy to cause damage to the operating object. , the manufacture of the robot itself involves a precision machining process that integrates complex technologies such as control and sensing. At the same time, due to the integration of control, sensing and other parts, most tradition...

AI Technical Summary

Problems solved by technology

Most of the existing soft robots use fluid drive, shape memory polymer deformation, and mammalian tendon deformation. Most of these methods require extremely harsh driving conditions and relatively large driving equipment, and can only achieve relatively slow motion behavior. , and these shortcomings greatly limit the application of soft robots in real life

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