Bionic soft robot based on geometrid

Abstract

The invention discloses a bionic soft robot based on geometrid. The bionic soft robot comprises a robot body; the two ends of the robot body are configured as foot parts; a trunk part of the robot body is formed between the foot parts; the robot body is made of a flexible material; the trunk part is configured to be of a structure capable of bending and driving the overall to move, and the foot parts can clamp supporting objects which are distributed in the moving direction of the trunk part and can move in an auxiliary mode; and the foot parts can be used for obliquely clamping supporting objects distributed away from the moving direction relative to the trunk part so as to assist in changing the moving direction. The soft robot disclosed by the invention adopts a structure form driven by a silica gel framework and a multi-stage shape memory alloy spring, so that the robot has good flexibility and control flexibility, various action shapes can be realized, the robot has the function of crossing simple barriers, and the size of the robot is reduced.

Description

technical field [0001] The invention relates to the technical field of shape memory alloy drive, in particular to a bionic soft robot based on an inchworm. Background technique [0002] With the continuous improvement of people's demand for robot technology, traditional rigid robots have been difficult to meet people's needs due to their complex structure, poor safety, poor adaptability, and poor flexibility. Soft robots are a new type of robot made of flexible materials. It can adapt to various unstructured environments and provide safer human-computer interaction. [0003] The research inspiration of bionic soft robots comes from living things, these creatures include reptiles such as worms, aquatic creatures such as octopuses and swimming fish, jumping creatures such as grasshoppers and fleas, etc. According to different bionic objects, bionic soft robots have different characteristics and functions. [0004] Inchworms belong to arthropods. Their bodies are slender, and ...

AI Technical Summary

Problems solved by technology

[0012] An IPMC-based bionic inchworm pipeline crawling mechanism disclosed in Reference Document 1 is mainly composed of a rigid structure with poor flexibility, and is only suitable for crawling in regular pipelines with suitable diameters, and has many application scenarios.

[0013] The bionic inchworm structure of the liquid crystal elastic polymer disclosed in the reference document 2 can only crawl on an unobstructed plane, has no ability to cross obstacles, and has poor climbing ability

[0014] The bionic inchworm structure disclosed in Reference Document 3 is a rigid structure, which makes its adaptability poor

[0015] The leech bionic robot in Comparative Document 4 "Reachability Improvement of a Climbing Robot Based on Large Deformations Induced by Tri-Tube Soft Actuators" is larger in size and has higher requirements on the smoothness of the climbing and attached surface, so it is not suitable for rough surface, and climbing on small and narrow objects

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