An unconstrained bionic soft arthropod robot and its driving method
A driving method and unconstrained technology, applied in motor vehicles, manipulators, program-controlled manipulators, etc., can solve problems such as restraining soft robots, and achieve the effect of reducing volume
Active Publication Date: 2021-03-16
HANGZHOU DIANZI UNIV
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- Abstract
- Description
- Claims
- Application Information
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Problems solved by technology
At present, soft robots generally need external air pipes, pumps, control valves, etc. to drive and control, which greatly restricts the movement of soft robots. Therefore, the present invention provides an unconstrained bionic soft robot with arthropods and its driving method
Method used
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Embodiment Construction
[0039] The present invention will be further described below in conjunction with accompanying drawing.
[0040] Such as figure 1 As shown, an unconstrained bionic soft-body arthropod robot includes a foot 1 , a drive assembly 2 , an integrated circuit substrate 3 and a body 4 . The body 4 is in the shape of a cuboid, and two trapezoidal slots are provided on the left and right sides for installing the feet 1, and eight circular slots are opened at the front and rear ends of the top for installing the drive assembly 2. A threaded hole is provided at the center for installing and fixing the integrated circuit substrate 3 . There are four legs 1, which are arranged in trapezoidal grooves on both sides of the body 4 in groups of two. The eight driving assemblies 2 are respectively installed in eight circular slots on the body 4 . The integrated circuit substrate 3 is mounted on the top of the body 4 . Body 4 adopts rubber.
[0041] Such as figure 1 and 2 As shown, the foot ...
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The invention discloses an unconstrained bionic soft joint limb robot and a driving method thereof. The soft robot can adapt to the external environment through self deformation and can work in the environment with the narrow space. The unconstrained bionic soft joint limb robot comprises foot limbs, driving assemblies, an integrated circuit substrate and a robot body. Each foot limb comprises aninstallation mass block, a first pneumatic joint, a second pneumatic joint and a toe cushion block. The first pneumatic joint and the second pneumatic joint are the same in structure and each comprisean end rod, an elastic liquid bag and an elastic belt. The driving assembly comprises a positive electrode, a negative electrode and a liquid storage bag body. The positive electrode and the negativeelectrode are arranged at the two sides of the liquid storage bag body respectively. By applying voltage to each driving assembly, the internal liquid pressure is increased, so that the joints are driven to move, an additional hydraulic source and some control valves are avoided by adopting the driving method, the size of the robot is greatly reduced, and the robot can move without external lines, namely unconstrained motion.
Description
technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to an unconstrained bionic soft arthropod robot and a driving method thereof. Background technique [0002] The use of robots has become an indispensable product in industrial production and life. In the traditional sense, robots are mainly based on rigid structures, but their rigid structural materials make them unable to adapt to changes in complex environments, which also makes them have some problems. Huge size, low security and other disadvantages. As humans place greater emphasis on interacting with unstructured environments, robots must become less rigid and immobilized. Soft robots have good flexibility, can adapt to the external environment through their own deformation, and can work in a narrow space environment, showing broad application prospects in rescue and detection. At the same time, soft robots have good biocompatibility, will not cause damage to ...
Claims
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IPC IPC(8): B25J9/14B25J9/10B25J11/00B25J17/00B62D57/032
CPCB25J9/10B25J9/14B25J11/00B25J17/00B62D57/032
Inventor 许明何龙陈国金
Owner HANGZHOU DIANZI UNIV