A dual-purpose bionic soft actuator

Abstract

The invention discloses a dual-purpose bionic soft actuator, which solves the problem of single function of the existing soft robot end effector. It includes a first drive module and a second drive module; the first drive module includes pneumatic components, a first variable stiffness unit, and a first frame; the two pneumatic components are symmetrically bonded on both sides of the first variable stiffness unit and fixed together on the second On a frame; the second drive module includes a first cylinder, a second frame, a third frame, a second variable stiffness unit, a second cylinder, a retractable origami structure, a fourth frame, and a fifth frame; The second frame is hinged to the first frame, the two first cylinders are respectively hinged to the first frame and the second frame on the same side, and the two second variable stiffness units are respectively installed between the first cylinder and the second frame Two third racks are symmetrically distributed on the left and right sides of the second rack, the fourth rack is fixed on the outside of the third rack by the second cylinder, and the retractable origami structure is fixed on the third rack and the fourth rack. between racks.

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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