A multi-mode flexible robot and a control method thereof

A control method and robot technology, applied in the field of smart materials, piezoelectric technology, and flexible robots, can solve problems such as difficulty in returning to the original state, slow response time, etc.

Active Publication Date: 2019-06-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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Problems solved by technology

[0003] Due to the characteristics of shape memory alloy heating phase transformation, the response time is slow and it is difficult to return to the original shape
The problem of the shape memory alloy jumping robot lies in the directional continuous motion of the robot, that is, the smooth landing without flipping after jumping, the adaptive adjustment of attitude to realize the continuous jumping motion of the robot, and the jumping and walking multi-mode motion of the robot to realize the robot's Orienteering

Method used

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  • A multi-mode flexible robot and a control method thereof
  • A multi-mode flexible robot and a control method thereof
  • A multi-mode flexible robot and a control method thereof

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Embodiment Construction

[0044] Below in conjunction with accompanying drawing and specific embodiment the technical solution of the present invention is described in further detail:

[0045] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0046] Such as figure 1 As shown, a multi-mode flexible robot of the present invention includes an "8"-shaped PVC substrate 1, and the "8"-shaped PVC substrate 1 is composed of two triangular prisms with two common edges folded from a PVC film with an opening. The two triangular prisms can freely rotate around the folding joint in the middle, and the two ends are fixed on the fifth PVC elastic band 4 in the middle of the front and rear end faces of the "8"...

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Abstract

The invention discloses a multi-mode flexible robot and a control method thereof. The robot is formed by connecting four piezoelectric bimorph pieces and two shape memory alloy springs to a PVC flexible base body. The shape memory alloy is used for driving the flexible base body deforms to drive a PVC elastic band to store and release bending strain energy, and the robot achieves the functions ofjumping motions and restoring to the original shape after jumping. Piezoelectric bimorph driving is utilized to enable the robot to achieve the functions of linear motions, turning motions and postureadjustment after jumping. Due to the design of the symmetrical base body structure of the robot, the anti-symmetric piezoelectric bimorph piece arrangement and the self-adaptive side edge elastic band, the robot can realize non-overturning directional continuous movements. By combining the advantages of high precision and quick response of the piezoelectric driving mode and high flexibility and large deformation of the shape memory alloy, the self-adaptive multi-motion mode of linear, turning, jumping and posture adjustment of the robot is realized.

Description

Technical field: [0001] The invention relates to the fields of piezoelectric technology, intelligent materials and flexible robots, and in particular to a multi-mode flexible robot and a control method thereof. Background technique: [0002] In order to adapt to the complex terrain environment and meet the actual application requirements, jumping robots with the ability to overcome obstacles are developing rapidly. Traditional jumping robots are driven by DC motors and rely on mechanical transmission components to store and release energy to generate jumping motion, but there are difficulties in manufacturing, control and miniaturization. At the same time, considering the damage to the robot caused by the impact force of the landing of the rigid substrate, the jumping robot combines flexible substrate materials, uses chemical energy, aerodynamic energy, or uses smart material drivers to simplify the structure, and the shape memory alloy driver has both transmission and drivi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 毛婷彭瀚旻冒林丽
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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