A drive module of magnetovariable rigidity soft robot and its manufacturing method

Abstract

A magnetovariable rigidity soft robot driving module and a manufacturing method thereof, comprising a magnetovariable rigidity layer, a two-degree-of-freedom pneumatic driver, a magnetic core, and a sealing and fixing device. The magnetostrictive stiffness layer and the two-degree-of-freedom pneumatic driver are printed at one time; the magnetic core can be deformed together with the driver, and a magnetic field can be applied to it when it is energized. Installed into a two-degree-of-freedom pneumatic driver and then assembled with a sealing fixture to obtain a magnetovariable stiffness soft robot drive module with one end fixed, the magnetovariable stiffness layer can realize rapid, reversible, and controllable stiffness adjustment capabilities under the action of an electromagnetic field. Since its hardness is greater than that of the two-degree-of-freedom pneumatic driver and its position is outside the air cavity, the radial over-expansion and axial over-extension of the two-degree-of-freedom pneumatic driver can be restricted, making its aerodynamic bending deformation controllable. The invention adopts an integrated configuration, is highly integrated and does not require an external magnetic field device, has a compact and reliable structure, solves the integration problem of variable stiffness drives, and realizes the coexistence of 2-degree-of-freedom motion and stiffness adjustment capabilities.

Description

Technical field[0001]The present invention belongs to the technical field of software robot, and involves a magneto-spanning mobility robot drive module and manufacturing method.Background technique[0002]Software robotics is one of the emerging frontier directions in the robot in recent years. Software robot design is from soft organisms such as nose, octopus tentacles, feet. Therefore, the soft robot no longer uses a rigid structural joint, but mainly with soft materials such as silicone rubber, hydrogel, has a good person-machine-environment interactivity and safety, in aerospace, underwater operation, High-end manufacturing, biomedical, etc. have broad application prospects. However, the current software robot exists in practical applications, "soft, just" design problems, hinders the application process of software robots. Therefore, in order to make the soft robot combined with friendly interactivity and operating load capabilities, soft robots with variable stiffness adjustmen...

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Problems solved by technology

[0003] In 2017, Ren Hongliang of the National University of Singapore and others proposed a method of adjusting the stiffness of the actuator by controlling the positive and negative pressure of the inner cavity of the origami structure in the invention patent application number 201710258747.0, but the origami structure is complicated to make. drive slower

In 2019, Dong Xufeng of Dalian University of Technology and others proposed a variable stiffness layer made of electrorheological fluid in the invention patent application number 201910853243.2, so as to realize the stiffness adjustment ability of the bending deformation driver under electronic control, but the electrorheological The liquid has the problems of poor agglomeration stability and sedimentation stability, and the manufacturing process is not easy

At present, the overall performance of the variable stiffness actuator design still needs to be improved

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