Unconstrained mobile soft-body robot and driving method thereof

A driving method and unconstrained technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unfavorable miniaturization, light weight and convenience of soft robots, and increase the weight of soft robots, so as to improve driving efficiency and reduce small size effect

Active Publication Date: 2020-11-13
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing soft robots often need to carry components such as hydraulic sources and valve bodies, which greatly increases the weight of soft robots, which is not conducive to the miniaturization, light weight and convenience of soft robots

Method used

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  • Unconstrained mobile soft-body robot and driving method thereof
  • Unconstrained mobile soft-body robot and driving method thereof
  • Unconstrained mobile soft-body robot and driving method thereof

Examples

Experimental program
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Embodiment Construction

[0033] The present invention will be further described below in conjunction with accompanying drawing.

[0034] Such as figure 1 As shown, an unconstrained mobile soft robot includes a front shell 1-1, a rear shell 1-2, a driver 2, a one-way bearing wheel 3 and an integrated circuit substrate 4. The front outer casing 1-1 and the rear outer casing 1-2 are connected together by two drivers 2 arranged side by side, and serve as the head and the tail of the soft robot respectively. One-way bearing wheels 3 are installed on both sides of the front-end outer casing 1-1 and the rear-end outer casing 1-2. The one-way bearing wheel 3 is obtained by installing a tire bead on the outer ring of the one-way bearing, and can only rotate forwardly so that the front end casing 1-1 or the rear end casing 1-2 advances, but cannot reverse.

[0035] Such as figure 2 with 3 As shown, the driver 2 is in the shape of a strip and is composed of M driving units stacked one after the other, where...

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Abstract

The invention discloses an unconstrained mobile soft-body robot and a driving method thereof. Existing soft-body robots need to carry elements such as hydraulic sources and valve bodies, which increases the weight of the soft-body robots. The unconstrained mobile soft-body robot comprises a front shell, a rear shell and drivers. The front shell and the rear shell are connected through the two drivers arranged side by side. Each driver is formed by stacking M driving units. Each driving unit comprises a positive electrode, a negative electrode and an elastic bag. The positive electrode and thenegative electrode of each driving unit are fixed to the middle portions of the two side faces of the corresponding elastic bag respectively. The elastic bags are filled with liquid dielectric media.By applying voltage to the electrodes in the middle portions of the two sides of the elastic bags, electrostatic maxwellian stress is generated to extrude the middle portions of the two side faces ofthe elastic bags, so that the edges of the elastic bags are expanded, and the technical effect that the drivers stretch is achieved. Due to the driving method, application of extra hydraulic sources and some control valves is avoided, and the volume of the robot is reduced.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to an unconstrained mobile soft robot and a driving method thereof. Background technique [0002] The use of robots has become an indispensable product in industrial production and life. In the traditional sense, robots are mainly based on rigid structures, but their rigid structural materials make them unable to adapt to changes in complex environments, which also makes them have some problems. Huge size, low security and other disadvantages. As humans place greater emphasis on interacting with unstructured environments, robots must become less rigid and immobilized. Soft robots have good flexibility, can adapt to the external environment through their own deformation, and can work in a narrow space environment, showing broad application prospects in rescue and detection. At the same time, soft robots have good biocompatibility and will not cause damage to biologi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/10B25J9/00
Inventor 祝庆许明何龙陈国金
Owner HANGZHOU DIANZI UNIV
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