Fruit fly larva simulated soft robot based on shape memory alloy

A technology of memory alloys and robots, which is applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems affecting motion efficiency and heating efficiency of shape-memory alloy wires, and achieve precise motion control, stable motion, and increased motion speed. Effect

Active Publication Date: 2020-06-09
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This patent uses water cooling to speed up the deformation speed of the shape memory alloy wire, but the liquid in the liquid cavity will affect the heating efficiency of the shape memory alloy wire. When the liquid is frequently heated, the temperature rise will also affect the movement efficiency

Method used

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  • Fruit fly larva simulated soft robot based on shape memory alloy
  • Fruit fly larva simulated soft robot based on shape memory alloy
  • Fruit fly larva simulated soft robot based on shape memory alloy

Examples

Experimental program
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Effect test

Embodiment 1

[0039] Example 1 as Figure 4 and Figure 5As shown, the spinal moving body 4 is a single spring located in the central part, and the expansion and contraction direction of the single spring is the same as the Y direction. The U-shaped muscle moving body 5 is distributed on the left and right sides of the spine moving body, and is distributed linearly along the Y direction; the opening of the left U-shaped muscle moving body 9 faces the positive direction of the X-axis, and the opening of the right U-shaped muscle moving body 10 faces the X-axis Negative direction: the openings of the left U-shaped muscular body 9 and the right U-shaped muscular body 10 are energized and deformed in the same direction as the Y direction. When the temperature of the U-shaped muscle moving body 5 reaches 60° C. and above, the U-shaped opening becomes larger; when the temperature drops to 40° C. and below, the U-shaped opening returns to its original shape.

[0040] Such as Figure 8 as shown ...

Embodiment 2

[0042] Example 2 as Figure 6 and Figure 7 As shown, the U-shaped muscle movement body 5 is distributed in the four directions of the spine movement body, up, down, left, and right, and is distributed linearly along the Y direction; the opening of the upper U-shaped muscle movement body 11 faces the positive direction of the Z axis, and the lower U-shaped muscle movement body 12. The opening of the left U-shaped muscle movement body 9 faces the positive direction of the X-axis, and the opening of the right U-shaped muscle movement body 10 faces the negative direction of the X-axis; the opening of the U-shaped muscle movement body is energized. same direction. The lower U-shaped muscle moving body 12 is powered on, and the upper U-shaped muscle moving body 11, the left U-shaped muscle moving body 9 and the right U-shaped muscle moving body 10 are powered off, so that the robot can complete the upward bending action, that is, the head-raising action The upper side U-shaped mu...

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Abstract

The invention provides a fruit fly larva simulated soft robot based on shape memory alloy. The fruit fly larva simulated soft robot based on the shape memory alloy comprises a head and a body part, the shape memory alloy is arranged in the body part, a control part is arranged in the head, and periodic electric signals are provided through the control part to make the shape memory alloy generate periodic movement. The body part comprises at least one hydrogel body, at least one spine movement body and muscle movement bodies. Each spine movement body is arranged in the center part of each hydrogel body. The muscle movement bodies are evenly distributed around the spine movement bodies, and the spine movement bodies and the muscle movement bodies are all made of shape memory alloy. The softrobot achieves movement in any direction in space three dimensions through shape memory alloy springs of the spine movement bodies in cooperation with the muscle movement bodies distributed around thespine movement bodies. Furthermore, quick and stable movement can be achieved through different electrification and outage cooperation modes of the spine movement bodies and the muscle movement bodies.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a soft robot imitating fruit fly larvae based on shape memory alloys. Background technique [0002] The Chinese patent discloses a multi-directional peristaltic soft robot. This patent uses shape memory alloy as the driving method to evenly distribute a number of shape memory alloy wires on the circumference and connect them to the center of the ring, and evenly distribute a number of electrostatic adsorption disks outside the elastic ring to improve the adsorption force and stability. The function of moving in any direction in the plane is realized by controlling the expansion and contraction of the shape memory alloy wire and the adsorption fit of the electrostatic chuck. This patent can realize the climbing function of the vertical wall, and realize the ultra-thinning of the soft robot through the simple arrangement of shape memory alloy wires. However, due to the use of electrosta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J11/00B62D57/024B62D57/02
CPCB25J9/1075B25J11/00B62D57/024B62D57/02
Inventor 徐琳刘思远张坤丁建宁李佳奇傅宇张颖王晓东
Owner JIANGSU UNIV
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