Plane soft body pneumatic driver of array type series-parallel structure

A driver and array technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of poor space bending ability, less research on pneumatic drivers, etc., and achieve the effect of good flexibility

Active Publication Date: 2020-09-04
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing telescopic pneumatic software actuators are cylindrical / rectangular structures, and the deformation constraints are realized by winding fiber wires, and the space bending ability is poor
At present, there are few studies on pneumatic actuators for planar contraction structures

Method used

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  • Plane soft body pneumatic driver of array type series-parallel structure
  • Plane soft body pneumatic driver of array type series-parallel structure
  • Plane soft body pneumatic driver of array type series-parallel structure

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with specific embodiments, but the protection scope of the present invention is not limited thereto.

[0023] A planar software pneumatic driver with an array series-parallel structure, which is divided into the following three parts according to the functional structure: the drive module 1, the outer planar module 2, and the outer air circuit connection module 3, and the three parts are fixed by gluing, such as figure 1 shown. Wherein, the drive module 1 includes several long cylindrical drivers 101 arranged in parallel, such as figure 2 As shown; the outer plane module 2 includes upper and lower surfaces 201, side surfaces 202, and front and rear surfaces 203, such as Figure 5 As shown; the external air path connection module 3 is located at one end of the long cylinder driver 101 . The long cylindrical driver 101 is composed of several driving units 102 connected in series, and the driving uni...

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Abstract

The invention belongs to the technical field of soft body robots, and provides a plane soft body pneumatic driver of an array type series-parallel structure. An outer gas path connecting device inflates long cylinder drivers which are mounted side by side, series-connection drive units can generate expansion and shrinkage under the pressure intensity effect, at the same time, a limiting layer transmits expansion and shrinkage of the drive units to the outer plane of a plane driver, therefore, the plane driver can be driven to shrink, the plane soft body pneumatic driver of the array type series-parallel structure has the function advantages of being safe, comfort, large in deforming, good in modification and the like, a flat type soft body structure is adopted, plane straight-line shrinkage within a certain range can be achieved, the long flat structure is adopted, a certain space structure can be formed in a folded and rolled manner, the telescopic and twisting function of three-dimensional space can be achieved, the multiple pneumatic units are in series connection and are arranged in a parallel connection manner, flexible design combination of the drivers can be achieved, and the driver can be applied to the fields of bionic movement, medical care and the like.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and relates to a planar soft pneumatic driver with an arrayed series-parallel structure. Background technique [0002] Soft actuators with motion characteristics similar to biological skeletal muscles have attracted more and more attention from researchers. Compared with traditional rigid actuators such as motors and hydraulic cylinders, soft actuators have the advantages of good compliance and high safety, and can realize shrinkage, bending, twisting and other actions. The elastic modulus of soft robots is relatively close to that of natural organisms, with high structural softness, good environmental adaptability, high safety, and diverse functions. It has broad application prospects in many fields such as robot drive, medical rehabilitation, and flexible grasping. [0003] Pneumatic software actuators have the characteristics of light weight, large deformation, and fast response. Compared...

Claims

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Application Information

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IPC IPC(8): B25J9/14
CPCB25J9/142
Inventor 李特李恒刘海波谢楠刘阔王永青
Owner DALIAN UNIV OF TECH
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