High-storage-rate self-folding pneumatic soft body mechanical arm based on paper folding theory

Abstract

The invention discloses a high-storage-rate self-folding pneumatic soft body mechanical arm based on a paper folding theory. The pneumatic soft body mechanical arm comprises a soft body driver, upperand lower end cover plates and an inflation system, wherein the soft body driver is a cylindrical-like shell, two ends of the cylindrical-like shell are fixed to the upper and lower end cover plates in a sealed mode, and an inner cavity of the shell is inflatable. The shell is of a multi-layer structure with soft body layers laminated, and sequentially comprises an airtight layer, an elastic layer, a limiting layer and a thermal-protective layer from inside to outside. The soft body driver shell is in topology form designed on the basis of the paper folding theory, so that axial large-stroke telescopic driving can be realized, and the shell can be driven to be unfolded in a manner that the inner cavity is inflated through the inflation system; and after air of the inner cavity is discharged, the potential energy of the elastic layer is released, so that the self-folding is realized. The pneumatic soft body mechanical arm further comprises a constraint rope which can realize driving through bending. The pneumatic soft body mechanical arm has the advantages of high-speed operation capability, higher load self-weight ratio, lower power consumption, lower development cost, larger taskspace and the like, and can be widely applied to the field of space flexible adaptive capture.

Description

technical field [0001] The invention relates to space flexible self-adaptive capture technology, in particular to a self-folding pneumatic soft manipulator with high storage rate based on origami theory. Background technique [0002] In recent years, space capture robot technology has been paid more and more attention in the international aerospace field, and has become a key technology for on-orbit service and maintenance of spacecraft. At present, the vast majority of space satellite capture robots are rigid. Rigid capture robots can achieve single-function operations with extremely high efficiency, but their work adaptability is greatly weakened, and rigid robots are easy to cause certain damage to satellites. In recent years, soft robot technology has developed rapidly. Compared with traditional rigid capture robots, soft capture robots can deform and absorb disturbance energy caused by vibration interference. athletic ability and adaptability. Compared with the tradit...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a high storage rate self-folding system based on origami theory in order to improve the shortcomings of the mechanical arm capture system and the flexible capture system, such as complex structure, large size, large mass, complex system control mode, and high launch cost. Pneumatic Soft Manipulator

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