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Modeling method for soft climbing robot

A modeling method and robot technology, applied in the field of software climbing robot modeling, can solve the problems of immature software robot modeling technology, inability to obtain efficient software climbing robots, and restricting the development and application of software robots.

Active Publication Date: 2019-08-20
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, due to the complex structure of soft climbing robots, various materials and mostly non-linear characteristics, the modeling technology of soft robots is not mature, which restricts the development and application of soft robots, and it is impossible to obtain the best performing soft climbing robots.

Method used

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  • Modeling method for soft climbing robot
  • Modeling method for soft climbing robot
  • Modeling method for soft climbing robot

Examples

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Embodiment Construction

[0068] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention All modifications of the valence form fall within the scope defined by the appended claims of the present application.

[0069] A modeling method for a soft climbing robot. The soft climbing robot includes a soft driver body, a clamping device providing clamping for the robot, and a pneumatic circuit control board providing gas drive. The software driver body includes a deformable layer 1, a supporting layer 2, a constraining layer 3, and a central housing cavity 4 arranged sequentially from the outside to the inside. The supporting layer 2 is provided with more than two airtight caviti...

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Abstract

The invention discloses a modeling method for a soft climbing robot. The soft climbing robot comprises a deformation layer (1), a supporting layer (2), a restraining layer (3) and a central accommodating cavity (4) which are sequentially arranged from outside to inside. By using the minimum potential energy principle in elastic mechanics, the relation between deformation of points on a deformationlayer of a cavity and pressure intensity inside the cavity is analyzed so as to obtain the deformation needed by the contact theory formed by the deformation layer and a cable surface, and thereforethe optimal soft climbing robot conforming to the target performance can be easily obtained.

Description

technical field [0001] The invention relates to a modeling method of a software climbing robot, which belongs to the technical field of driving. Background technique [0002] Since the body of soft robots is mostly composed of soft materials, they have good adaptability to unstructured environments. According to the existing driving method of aerodynamic mesh, the high adaptability of soft materials is applied to high poles, cables, etc., and the software climbing robot shown in this paper is designed. [0003] The Pneumatic Circuit Control Board is an open-source hardware platform that can be used to operate and control pneumatic software actuators. The pneumatic circuit control board can provide driving force and implement monitoring for the soft robot. The core of the control board is the Arduino processor. The pneumatic circuit control board allows researchers to monitor multiple parameters of the soft drive in real time. [0004] The applicant applied for an applicati...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 徐丰羽芦雨轩杨裕栋蒋国平
Owner NANJING UNIV OF POSTS & TELECOMM
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