Three-degree-of-freedom pneumatic flexible driver with variable rigidity and preparation method thereof

Abstract

The invention relates to a three-degree-of-freedom pneumatic flexible driver with variable rigidity and a preparation method thereof and aims to solve the technical problems that an pneumatic flexibledriver in the prior art cannot fit bionics design and achieve variable adjustment of rigidity, the bearing capacity of the driver itself is relatively poor and the response rate in the rigidity adjusting process is relatively low. The three-degree-of-freedom pneumatic flexible driver with variable rigidity comprises a driver body. A mounting groove arranged in a length direction of the driver body is formed in one end of the driver body, a variable rigidity module is embedded into the mounting groove and comprises a liquid metal, a protecting housing and a heating part, the liquid metal is encapsulated in the protecting housing, a plurality of air cavities are formed in the driver body, the air cavities are arranged in the length direction of the driver body, and the end, inserted onto the driver body, of an air pipe communicates to the air cavities while the other end of the air pipe extends to the outside of the driver body.

Description

technical field [0001] The invention relates to the technical field of flexible robots or bionic robots, in particular to a variable stiffness three-degree-of-freedom pneumatic flexible driver and a preparation method thereof. Background technique [0002] With the continuous progress and development of human production and life, robot technology and automatic control technology, robots have been widely used in all aspects of human society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide human Great convenience. From the perspective of the type of robot drive, the early mechanical arm was driven by hydraulic pressure. The hydraulic drive is characterized by relatively simple control and a high power-to-weight ratio, but there are problems such as oil leakage, high cost, and poor safety. Pressure oil supply system; the emergence of motors provides a new driving method for robots and gradually replaces hyd...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the technical problems in the prior art that the pneumatic flexible driver cannot fit the bionic design to realize the variable adjustment of the stiffness, the bearing capacity of the driver itself is poor, and the response rate of the stiffness adjustment process is low, the present invention provides a variable stiffness A three-degree-of-freedom pneumatic flexible driver and a preparation method thereof, the driver can realize its own stiffness change according to environmental conditions, the stiffness change can realize rapid response, and has three-degree-of-freedom motion capability, and meets the needs of bionic design when applied to a flexible robot

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