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A Modeling Method for a Soft Climbing Robot

A modeling method and robot technology, applied in the field of modeling of soft-body climbing robots, can solve problems such as restricting the development and application of soft-body robots, complex structures of soft-body climbing robots, and inability to obtain efficient soft-body climbing robots.

Active Publication Date: 2021-06-22
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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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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  • A Modeling Method for a Soft Climbing Robot
  • A Modeling Method for a Soft Climbing Robot
  • A Modeling Method for a Soft Climbing Robot

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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 software climbing robot, the software climbing robot comprises a deformation layer (1), a support layer (2), a constraint layer (3) and a central accommodation cavity (4) arranged sequentially from outside to inside ), by using the minimum potential energy method in elastic mechanics, the relationship between the deformation of each point on the deformed layer of the closed cavity and the gas pressure inside the closed cavity is analyzed, and the theoretical requirements for the contact between the deformed layer and the cable surface under different numbers of closed cavities are obtained Therefore, it is easy to obtain the soft climbing robot with the best performance in line with the target.

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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Patent Type & Authority Patents(China)
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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