Sensitive soft actuator and application thereof

A technology of actuators and software, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as slow response speed, and achieve the effects of sensitive response, diversified movement modes, and broad application prospects

Active Publication Date: 2019-06-14
SOUTHWEAT UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a sensitive soft actuator and its application in view of the defects of slow response speed in existing soft actuators

Method used

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  • Sensitive soft actuator and application thereof
  • Sensitive soft actuator and application thereof
  • Sensitive soft actuator and application thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] Example 1 Sensitive soft actuator

[0055] (1) Structural analysis

[0056] As shown in the figure, the sensitive soft actuator of this embodiment is in the shape of a sheet as a whole, and its structure is as follows figure 1 shown. figure 2 A schematic diagram of the components of the sensitive soft actuator is given; figure 2 Among them, from top to bottom are the flexible alloy layer, the driving component, the protective layer, and the elastic limiting layer.

[0057] The sensitive soft actuator in this embodiment includes a flexible alloy layer, a driving component, and an elastic limiting layer. Among them, the flexible alloy layer is in the shape of a thin sheet, and the flexible alloy layer has two initial forms: straight line form and curl form, such as image 3 shown. More specifically, the flexible alloy layer is made of a metal material, and the flexible alloy layer is in the shape of a strip, and the flexible alloy layer is arranged symmetrically al...

Embodiment 2

[0076] Embodiment 2 bionic hand

[0077] The traditional soft bionic hand has disadvantages such as slow response speed, sluggish movement and insufficient driving force. For this reason, based on the rapid curling characteristics of the soft actuator and the good fit of the sheet structure, the inventors realized the sensitive control of the soft bionic hand.

[0078] In order to eliminate the interference of human factors, the experiment is more authentic. The inventor made a human prosthesis through 3D printing technology for the control experiment of the bionic hand. In order to achieve the best test results, the specific shape and size of the prosthetic exactly modeled on the experimenter's arm.

[0079] The bionic hand of this embodiment includes an arm, a palm main body connected to the arm, prosthetic fingers movably connected to the palm main body, and the sensitive soft actuator in the aforementioned embodiment 1. In this embodiment, the prosthetic fingers are con...

Embodiment 3

[0084] Example 3 mechanical skin

[0085] In this example, the inventors combined sensitive soft actuators with soft materials to design a wearable soft mechanical skin.

[0086] The mechanical skin of this embodiment includes a soft surface layer and the aforementioned sensitive soft actuator, the sensitive soft actuator is connected to the soft surface layer, the soft surface layer is made of soft material, and the middle part of the sensitive soft actuator is connected to the soft surface layer through a fixing piece. As shown in the figure, the mechanical skin of this embodiment is equipped with a plurality of sensitive soft actuators. When subjected to external force, the sensitive soft actuators will deform to realize corresponding operations such as wrapping.

[0087] After measurement, the working pressure of the soft mechanical skin in this implementation is 150kPa. Taking the average value of 10 measurements, the response time of the soft mechanical skin is only 0.3...

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Abstract

The invention discloses a sensitive soft actuator and an application thereof, belongs to the field of soft robots and aims at solving the problem of a low response speed of an existing soft actuator.The sensitive soft actuator comprises a flexible alloy layer, a driving component and an elastic limiting layer. The flexible alloy layer is in the shape of a thin sheet and has two initial forms including a linear form and a curly form. The driving component comprises a gas delivery pipe and a driving air bag, the gas delivery pipe is used for being connected with a gas source, and the gas delivery pipe is connected with the driving air bag and can transmit gas to the driving air bag and deflate the driving air bag. The soft actuator has the advantage of being high in response speed, and themaximum response rate reaches 32.7cm / s. In addition, based on the sensitive soft actuator, the inventor realizes sensitive control of a bionic hand and preparation of mechanical skin, a spiral gripperand a deformable crawling robot through researches of various motion forms. The sensitive soft actuator is ingenious in conception, reasonable in design and simple in structure.

Description

technical field [0001] The invention relates to the field of soft robots, especially the field of soft robot actuators, in particular sensitive soft actuators and applications thereof. The actuator of this application has the advantages of fast response rate and high execution efficiency, can meet the application requirements in different scenarios, has high application value and good application prospect, and is worthy of large-scale promotion and application. Background technique [0002] Soft materials have many natural advantages, such as: flexibility, hysteresis, fluidity, etc. These advantages make soft robots suitable for many fields that traditional robots cannot set foot in, such as: soft wearable devices, soft grippers, medical treatment and surgery, environmental investigation, etc. However, these advantages also bring disadvantages such as slow response speed and low execution efficiency to soft robots. In order to solve these problems, more and more researcher...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/14
Inventor 刘东升臧红彬周颖玥
Owner SOUTHWEAT UNIV OF SCI & TECH
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