A pneumatic soft actuator and its manufacturing method

An actuator and software technology, applied in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve the problems of high energy consumption and high air pressure, and achieve the effect of good unfolding motion performance

Active Publication Date: 2021-02-09
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, these pneumatic soft actuators in the prior art still have problems such as large air pressure required to maintain the shape, high energy consumption, and the inability to achieve a wider range of unfolding motions under a smaller input air pressure.

Method used

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  • A pneumatic soft actuator and its manufacturing method
  • A pneumatic soft actuator and its manufacturing method
  • A pneumatic soft actuator and its manufacturing method

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Embodiment 1

[0035] There are various spiral biological configurations in nature, such as nautilus, currency bug, plant vines, seahorse tail[17], etc. Among them, the tail of the seahorse usually maintains a logarithmic spiral configuration. When the hippocampus tries to catch When objects such as seaweed and coral resist the impact of seawater, the tail will first unfold and then bend to embrace the object; objects such as record grooves, mosquito coils, and cams in life are also in a spiral configuration. Most of the configurations of these creatures or objects conform to spiral configurations such as Archimedes spiral or logarithmic spiral.

[0036] Inspired by this, this application conducts research on the design scheme and working method of the pneumatic soft actuator with a helical configuration, and proposes the following implementation methods, which are now described as follows:

[0037] Helical actuator structure:

[0038] According to the basic knowledge of analytic geometry, ...

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Abstract

The invention provides a pneumatic software actuator, which is a helical structure, and the base body is made of superelastic material. There is an inflatable air cavity inside the base body, and the input air pressure is used as the drive to realize the unfolding movement; the greater the air pressure, the greater the curvature. Small, the negative curvature expansion movement can be realized after the curvature is reduced to 0. A strain-limiting layer is pasted on the outside of the substrate to limit the axial extension movement and enhance the expansion movement. The sealing plug at the end of the substrate is used to block the air cavity and prevent air leakage. . Due to the adoption of the spiral configuration, the present invention can realize unfolding motions in both positive and negative curvature directions with the increase of input air pressure, and can realize a larger range of unfolding motions under a smaller input air pressure. The helical pneumatic soft actuator has good unfolding motion performance and has various potential application fields, such as the medical field, the development of new rehabilitation gloves, and so on.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to an air-driven soft actuator and a manufacturing method thereof. Background technique [0002] Pneumatic soft actuator is a new type of pneumatic actuator, which has the advantages of light weight, good flexibility, quick response, strong pressure resistance and high safety. Therefore, it is widely used in research directions such as continuous robotic arms, soft grippers, auxiliary rehabilitation gloves, and bionic fish. Pneumatic soft actuators have become one of the important research objects in the field of soft robotics. Several typical pneumatic soft actuators are: McKibben pneumatic muscles invented by J.L.Mckibben in the 1950s, Jamming-based actuators, Pneumatic-nets pneumatic grids, pure torsion actuators and different types of actuators The combination. At this stage, the pneumatic software actuator has the following structural features: [0003] 1) The base body...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B29C39/00
CPCB25J9/00B25J9/0009B25J9/0015B29C39/00
Inventor 王学谦张志远徐峰梁斌王松涛
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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