Inner and outer wall reinforced soft mechanical arm and manufacturing method thereof

Abstract

The invention discloses an inner and outer wall reinforced soft mechanical arm and a manufacturing method thereof. The soft mechanical arm adopts the split type design scheme and comprises a main bodypart and an end cover part. The main body part and the end cover part are manufactured through the split pouring process. The two parts of silica gel are bonded through a special silica gel binding agent. The inner wall of each silica gel unit of the mechanical arm is provided with a through hole penetrating through the silica gel unit. The through holes are used for allowing air pipes of the front end unit to penetrate through. A spring with the appropriate length and rigidity is sealed in the inner wall. The axes of the through holes and the axis of the spring coincide with the axes of thesilica gel units. The spring is placed in a mold in advance and is completely sealed in the inner wall through silica gel pouring. The spring is added to the inner wall of the soft mechanical arm to play a role in supporting the inner wall of the soft mechanical arm, radial expansion of the inner wall of a cavity is greatly limited when the cavity is pressurized to expand, almost no effect on bending of the mechanical arm is caused, the bearable pressure of the cavity is greatly increased, and the expansion bending efficiency of the unit liquid volume is greatly improved.

Description

technical field [0001] The invention relates to a hydraulically driven soft manipulator, in particular to a design and manufacturing method of a soft manipulator module whose inner wall is strengthened by springs and the outer wall is strengthened by fiber winding. Background technique [0002] Traditional rigid robotic arms are generally connected by rigid links through rotating joints. Such rigid robotic arms have the advantages of fast movement, precise trajectory control, and large load-carrying capacity. Due to the rigidity of the structure, they have low degrees of freedom and insufficient flexibility. The adaptability of the environment is poor, and it can only work in a structured environment. [0003] With the continuous advancement of society, there are more new requirements for robotic arms in technology and production. In natural environments and human-centered operations, safety and adaptability to uncertain factors are basic work requirements, while rigid machi...

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Problems solved by technology

[0004] At present, there has been some research and application on soft manipulators, but most of the soft manipulators are integrated, and the structure of the soft manipulator is complex, and it is difficult to repair and replace after the cavity is broken. Most of the current soft manipulators are pneumatic, and it is difficult to adapt to the underwater working environment

And the current strengthening of the cavity only stays at the strengthening of the outer wall of the cavity, and the expansion generated during pressurization is in the peripheral direction, which is divided into radial expansion and axial expansion. The axial expansion produces bending, and the radial expansion inhibits bending. , and if the expansion is too large, the cavity will be easily broken, the safety will not be high, and the efficiency of expansion and bending per unit volume will be reduced, which needs to be strictly limited

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