Variable-rigidity omnidirectional motion soft driver based on line interference technology

Abstract

The invention discloses a variable-rigidity omnidirectional motion soft driver based on a line interference technology. The variable-rigidity omnidirectional motion soft driver based on the line interference technology comprises a corrugated expansion pipe, a hose, nylon filaments, a first air pipe, a second air pipe and a torsion limiting line; the hose is coaxially sleeved with the corrugated expansion pipe, and a first cavity is formed between the hose and the corrugated expansion pipe; the interior of the hose is equally divided into a plurality of second cavities in the axial direction; the nylon filaments are coaxially filled in the second cavities; the first air pipe communicates with the first cavity; the second air pipe communicates with the second cavities; and the torsion limiting line is detachably connected to the outer wall of the corrugated expansion pipe. According to the variable-rigidity omnidirectional motion soft driver based on the line interference technology, theexpansion and contraction movement of the corrugated expansion pipe is realized by inflating or exhausting air in the first cavity, the torsion movement is realized by the torsion limiting line, thebending direction and the rigidity of the corrugated expansion pipe are controlled by matching of the hose and the nylon filaments, the designed soft driver has various movement modes and adjustable rigidity, and the functions of grabbing, clamping and the like of objects can be well realized.

Description

technical field [0001] The invention relates to the technical field of soft robots, and more specifically relates to a variable stiffness omnidirectional motion pneumatic soft driver based on line interference technology. Background technique [0002] Traditional omnidirectional motion soft actuators are divided into three categories: bending soft actuators, telescopic soft actuators, and torsional soft actuators. Most of the bending actuators can only achieve unidirectional bending functions, and telescopic actuators and torsional actuators can only achieve a single stretching or torsion. Motion, there is no soft actuator that can realize omnidirectional motion of bending, stretching and torsion in any direction, and the application range of the actuator is greatly limited. Moreover, the existing soft actuators are affected by the manufacturing materials, have low rigidity, and have great difficulties in grasping heavy objects. [0003] Therefore, how to provide a soft act...

AI Technical Summary

Problems solved by technology

Moreover, the existing soft actuators are affected by the manufacturing materials and have low rigidity, which makes it difficult to grasp heavy objects

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