A three-degree-of-freedom soft robot and its driving method

Abstract

The invention discloses a three-freedom-degree soft robot and a driving method thereof. The elongation of conventional soft robots is limited by the axial strain capacity of adopted materials, and long-distance extending cannot be achieved. The three-freedom-degree soft robot comprises a moving assembly and a driving assembly. The moving assembly comprises a moving shell, a base, a first moving seat, a second moving seat, a third moving seat, a fourth moving seat, guide shafts, first rollers and second rollers. The driving assembly comprises a fixed shell, a reversing valve, a first motor, a second motor, a third motor, a fourth motor, a winding drum, a first overflow valve, a second overflow valve, an air source and strip air pipes. The release quantity of the strip air pipes is changed for controlling, and control over three freedom degrees of transverse movement and two directions of deflection of the moving assembly can be achieved. The inflation manner of the strip air pipes is driven, and when the moving assembly suffers from impacting or bumping, the moving assembly can adapt to outside factor influences well, and damage cannot be generated.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a three-degree-of-freedom soft robot and a driving method thereof. Background technique [0002] The use of robots has become an indispensable product in industrial production and life. In the traditional sense, robots are mainly based on rigid structures, but their rigid structural materials make them unable to adapt to complex environmental changes, which also makes them have some problems. Huge size, low security and other disadvantages. As people place greater emphasis on interacting with unstructured environments, robot motion must become less rigid and fixed. Soft robots have good flexibility, can adapt to the external environment through their own deformation, and can work in a narrow space environment, showing broad application prospects in rescue and detection. At the same time, soft robots have good biocompatibility and will not cause damage to biologi...

AI Technical Summary

Problems solved by technology

But positional accuracy and speed control of SPAs are challenging, and there is another major problem with many SPAs, their elongation is limited by the axial strain capacity of the materials used, and long-distance extensions cannot be achieved.

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