A Soft Body Skeleton Structure with Variable Stiffness and Soft Arm Robot

A technology of soft skeleton and variable stiffness, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as insufficient stiffness, achieve fast and efficient stiffness, and improve adaptability

Active Publication Date: 2022-01-11
ZHEJIANG UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0004] In order to overcome the problem of insufficient stiffness of the existing soft robot itself, the present invention provides a variable stiffness soft body skeleton structure, which can be embedded inside the soft robot, and can quickly and efficiently change the stiffness of the soft robot during the movement process

Method used

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  • A Soft Body Skeleton Structure with Variable Stiffness and Soft Arm Robot
  • A Soft Body Skeleton Structure with Variable Stiffness and Soft Arm Robot
  • A Soft Body Skeleton Structure with Variable Stiffness and Soft Arm Robot

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Embodiment Construction

[0032] The technical solutions of the present invention will be further specifically described below through specific embodiments and in conjunction with the accompanying drawings.

[0033] In the present invention, unless otherwise specified, all equipment and raw materials can be purchased from the market or commonly used in this industry. The methods in the following examples, unless otherwise specified, are conventional methods in this field.

[0034] Such as figure 1 and Figure 7 As shown, a variable stiffness soft body skeleton structure includes several stretchable units, and two adjacent stretchable units are coaxially connected to a universal joint connector; the space between the stretchable unit and the universal joint The cavity is filled with particle obstructions 20, and the outer surface of the skeleton structure formed by the telescopic unit is covered with a vacuum-sealed bag 19, and a vacuum air pump is provided on the vacuum-sealed bag. The material of th...

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Abstract

The invention relates to the field of robot research and engineering technology. In order to solve the problem of insufficient rigidity of existing soft robots, a soft skeleton structure with variable stiffness and a soft arm robot are provided. The soft skeleton structure with variable stiffness includes several scalable units , two adjacent telescopic units are respectively coaxially connected to a universal joint connector; the cavity at the joint between the telescopic unit and the universal joint is filled with particle obstructions, and the telescopic unit constitutes The outer surface of the skeleton structure is covered with a vacuum-sealed bag. The invention combines the telescopic unit and the universal joint connector, has the ability of bending and elongation, realizes the following movement inside the soft arm, can be embedded in the soft robot, and can follow the soft arm without affecting the movement of the soft arm Realizing joint motion can realize fast and efficient change of the stiffness of the soft robot during motion.

Description

technical field [0001] The invention relates to the field of robot research and engineering technology, in particular to a variable stiffness soft body skeleton structure and a soft arm robot. Background technique [0002] It has been more than half a century since the first industrial robot came out, the rigid body robot research system has been very mature, and in the industry, the application of robots has been fully developed and promoted. With the improvement of the quality of human life, it is hoped that robots can be used not only in industry, but also in daily life. However, due to the current lack of interactivity of rigid-body robots, and most of the driving methods are driven by motors, large inertia will be generated during movement, and rigid collisions will inevitably occur when they come into contact with the external environment, causing certain dangers. We want robots to be able to interact directly with people and the environment. This type of robot can b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J9/10
CPCB25J9/08B25J9/10
Inventor 王文彪吴昌渠鲍官军
Owner ZHEJIANG UNIV OF TECH
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