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Sensitive soft actuators and their applications

An actuator and software technology, applied in manufacturing tools, chucks, program-controlled manipulators, etc., can solve problems such as slow response speed, and achieve the effect of sensitive response, favorable for large-scale promotion and application, and low cost

Active Publication Date: 2022-05-17
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 actuators and their applications
  • Sensitive soft actuators and their applications
  • Sensitive soft actuators and their applications

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 its application, belongs to the field of soft robots, and aims to solve the defect of slow response speed in the existing soft actuator. The sensitive soft actuator includes a flexible alloy layer, a driving component, and an elastic limiting layer. The flexible alloy layer is in the shape of a sheet, and the flexible alloy layer has two initial forms: a straight line form and a curled form; the drive component includes a The gas delivery tube connected to the gas source and the driving air bag, the gas delivery tube is connected with the driving air bag, and the gas delivery tube can deliver and deflate the driving air bag. The soft actuator of the present application has the advantage of fast corresponding speed, and the maximum response rate reaches 32.7 cm / s. In addition, based on sensitive soft actuators, the inventor has realized the sensitive control of bionic hands, the preparation of mechanical skins, spiral grippers, and deformable crawling robots through the research of various motion forms. The application has ingenious conception, reasonable design and simple 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 Patents(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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