A Pneumatic Soft Tentacle Robot Based on Novel Pneumatic Muscle

Abstract

This application discloses a pneumatic soft tentacle robot based on a new type of pneumatic muscle, which includes a first driving part, a second driving part and a third driving part connected in sequence, the first driving part, the second driving part and the third driving part The driving methods are all fluid driven and can work independently of each other; the first driving part includes the first flexible component, the second driving part includes the second flexible component, the third driving part includes the third flexible component, the first flexible component, the second Both the flexible component and the third flexible component are driven by the fluid to grasp or move the target by bending or stretching. The flexible component includes a corrugated net elongated pneumatic muscle, and its elongation comes from the axially stacked corrugations, which make it The elongation has nothing to do with the angle, which breaks through the design limitations of double helix braided mesh and capsule granular pneumatic muscles. Through fluid drive, each group of pneumatic muscles that control each driving part work independently, so that the robot can perform spatial 3-dimensional bending and stretching motions.

Description

technical field [0001] The present invention generally relates to the technical field of robots, in particular to a pneumatic soft tentacle robot based on a novel pneumatic muscle. Background technique [0002] Traditional rigid manipulators have strong reliability when grasping objects, but if they grasp irregular target objects, the grasping reliability of traditional rigid manipulators will be greatly reduced. And when the rigid manipulator grabs the target object, it will inevitably produce a rigid collision force with the target object, which will damage the manipulator and the target object. Compared with rigid manipulators, soft robots have obvious advantages in the scenes of grasping irregular objects, working in small spaces, and frequent human-computer interaction. When grabbing the target object, no rigid collision will occur due to the fully flexible structure of the soft robot. Compared with traditional rigid robots, the soft tentacle robot of the present inve...

AI Technical Summary

Problems solved by technology

[0002] The traditional rigid manipulator has strong reliability when grasping objects, but if it grasps irregular target objects, the grasping reliability of the traditional rigid manipulator will be greatly reduced

And the rigid manipulator will inevitably produce a rigid collision force with the target object when grabbing the target object, which will damage the manipulator and the target object

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