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Multistage variable-rigidity pneumatic soft actuator

A variable stiffness and actuator technology, applied in the direction of chucks, manipulators, manufacturing tools, etc., can solve the problems of small stiffness variation range, poor load capacity, slow response speed, etc., and achieve small size, wide load range, and light weight. Effect

Active Publication Date: 2020-04-07
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of existing variable stiffness pneumatic soft actuators such as small stiffness variation range, slow response speed, poor load capacity, etc., and propose a multi-stage variable stiffness pneumatic soft actuator

Method used

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  • Multistage variable-rigidity pneumatic soft actuator

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Embodiment Construction

[0024] Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing and embodiment:

[0025] see Figure 1 to Figure 7 As shown, a multi-stage variable stiffness pneumatic soft actuator includes a first soft frame 1, a first end cover 2, a hard baffle 3, an air bag 4, a contact type helical elastic variable stiffness element 5, a pneumatic tubular variable Stiffness element 6 , dustproof ventilation plug 7 , second end cover 8 , contact tooth deformation stiffness module 10 .

[0026] Among them, the top of the first software frame 1 is provided with a plurality of U-shaped grooves 1A arranged in parallel, and a plurality of independently driven airbags 4 are fixed in the U-shaped grooves 1A on the first software frame 1 for driving the actuators. A vertical slot 1B is provided in the partition between the two U-shaped slots 1A, and a hard baffle 3 is fixed in the slot 1B in order to allow the driven airbag 4 to achieve a better ...

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Abstract

The invention discloses a multistage variable-rigidity pneumatic soft actuator which comprises a first soft rack, air bags, a contact type spiral elastic variable-rigidity element, air pressure type tubular variable-rigidity elements and a contact type tooth variable-rigidity module. U-shaped grooves are formed in the top of the first soft rack, and the multiple independently-driven air bags are sequentially fixed in the corresponding U-shaped grooves. A first cavity body, a second cavity body and a third cavity body are formed in the first soft rack. The second cavity body is located in the middle and is in sealed connection with the front end of the first soft rack through a first end cover. The third cavity body is located on the periphery of the second cavity body and communicated withthe atmosphere outside the first soft rack through a dustproof ventilation plug. The first cavity body is located on the periphery of the third cavity body and is in sealed connection with the rear end of the first soft rack through a second end cover. The contact type spiral elastic variable-rigidity element is placed in the first cavity body; a plurality of air pressure type tubular variable-rigidity elements are uniformly arranged in the second cavity body; and the contact type tooth varaibale-rigidity module is fixed to the bottom of the first soft rack.

Description

technical field [0001] The invention relates to the technical field of soft actuators, in particular to a multi-stage variable stiffness pneumatic soft actuator. Background technique [0002] In recent years, pneumatic soft actuators have been widely used in many fields because of their flexibility, adaptability, and safer interaction with humans. Especially in the two aspects of pose control and variable stiffness of the pneumatic soft actuator, it has been deeply studied. [0003] The pose control of soft actuators has always been a difficult problem in the field of soft actuators. It usually requires complex control algorithms and sophisticated software structures, but often only a single pose control can be achieved. From the driver's point of view, it may be a simple and effective solution to realize multi-pose control of soft actuators by changing the driving sequence of multiple modularized drivers. [0004] The variable stiffness of soft body actuators has been wel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/00Y02T50/40
Inventor 任丽丽周亮牛士超徐健佟金焦志彬
Owner JILIN UNIV
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