A Planar Soft Pneumatic Actuator with Array Type Serial-Parallel Structure

A driver and array technology, applied in the direction of program-controlled 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: 2022-08-09
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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  • A Planar Soft Pneumatic Actuator with Array Type Serial-Parallel Structure
  • A Planar Soft Pneumatic Actuator with Array Type Serial-Parallel Structure
  • A Planar Soft Pneumatic Actuator with Array Type Serial-Parallel Structure

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Embodiment Construction

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

[0023] A plane software pneumatic driver with an array type series-parallel structure is divided into the following three parts according to the functional structure: a drive module 1, an outer plane module 2, and an outer gas path connection module 3, and the three parts are fixed by gluing, such as figure 1 shown. Wherein, the driving module 1 includes a plurality of 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, 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 cylindrical driver 101 . The long cylindrical driver 101 is composed of several driving units 102 connected in series, and the driving unit 102...

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Abstract

The invention belongs to the technical field of soft robots, and provides a plane soft pneumatic driver with an array type series-parallel structure. The long cylindrical drivers arranged in parallel are inflated through the external air circuit connection device, and the series-connected driving units will expand and contract under the action of pressure. At the same time, the confinement layer transmits the expansion and contraction of the driving units to the outer plane of the planar driver. , thereby driving the contraction of the planar driver. The plane software pneumatic actuator of the array type series-parallel structure of the present invention has the functions of safety and comfort, large deformation, good remodeling, etc.; the flat type software structure is adopted to realize the plane linear shrinkage within a certain range; the long flat structure is adopted, which can be folded and rolled into A certain spatial configuration can realize the telescopic and torsional functions in three-dimensional space; a number of pneumatic units are connected in series and arranged in parallel to realize the flexible design and combination of drives; it can be used in bionic sports, medical care and other fields.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and relates to a plane soft pneumatic driver with an array type series-parallel structure. Background technique [0002] Soft actuators with motion properties similar to biological skeletal muscles have received increasing attention from researchers. Compared with traditional rigid drives such as motors and hydraulic cylinders, software drives have the advantages of good compliance and high safety, and can realize contraction, bending, twisting and other actions. Soft robots have close elastic modulus to natural organisms, high structural flexibility, good environmental adaptability, high safety, and diverse functions. They have broad application prospects in many fields such as robot driving, medical rehabilitation, and flexible grasping. [0003] Pneumatic software drives have the characteristics of light weight, large deformation, and fast response speed. Compared with intelligent materia...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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