Dual-purpose bionic soft actuator

Abstract

The invention discloses a dual-purpose bionic soft actuator. The problem that an existing soft robot end actuator is single in function is solved. The dual-purpose bionic soft actuator comprises a first driving module and a second driving module, wherein the first driving module comprises pneumatic elements, a first variable stiffness unit and a first rack; the two pneumatic elements are symmetrically bonded to the two sides of the first variable stiffness unit and jointly fixed to the first rack; the second driving module comprises first air cylinders, a second rack, a third rack, a second variable stiffness unit, a second air cylinder, a telescopic paper folding structure, a fourth rack and a fifth rack; the second rack is hinged with the first rack; the two first air cylinders are hinged to the first rack and the second rack on the same side respectively; the two second variable stiffness units are installed between the first air cylinders and the second rack; the two third racks are symmetrically distributed on the left side and the right side of the second rack; the fourth rack is fixed to the outer sides of the third rack through the second air cylinder; and the telescopic paper folding structure is fixed between the third rack and the fourth rack.

Description

technical field [0001] The invention relates to the technical field of soft actuators, in particular to a dual-purpose bionic soft actuator. Background technique [0002] In recent years, soft robots that simulate biological preparation have better compliance and stronger operational adaptability, and have attracted extensive attention from researchers. [0003] Soft robots using water as the medium, such as soft fish robots and soft jellyfish robots, have emerged at the historic moment, especially soft fish robots have been extensively studied. Existing mollusc fish robots can well simulate the movement of fish, and are widely used in related fields such as environmental monitoring, military reconnaissance, and fishery detection. [0004] As for creatures that use water as their living medium, in addition to fish that live in water for a long time, there are also some animals that can run on the water surface, such as grebes. Grebes can use their feet to run on the water ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of the single function of the existing soft robot end effector, and propose a dual-purpose bionic soft actuator, which can enable the actuator to adopt different implementations according to different usage scenarios. Ways, including imitating the way of grebe running on water and the way of swimming of fish, which are convenient, quick and cost-saving

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