Hyper-redundant continuum robot driven by shape memory alloy

A memory alloy and memory alloy spring technology, applied in the field of super-redundant continuum robots, can solve the problems of large driving weight, low carrying capacity of continuum robots, and difficulty in miniaturization, and achieve small space occupation rate, light weight, controllable easy effect

Active Publication Date: 2020-12-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is: to overcome the shortcomings of the existing technology, aiming at the problems of the existing continuum robot with low carrying capacity, large drive weight and difficulty in miniaturization, a super-redundant continuum driven by shape memory alloy is proposed robot

Method used

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  • Hyper-redundant continuum robot driven by shape memory alloy
  • Hyper-redundant continuum robot driven by shape memory alloy
  • Hyper-redundant continuum robot driven by shape memory alloy

Examples

Experimental program
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Effect test

Embodiment 1

[0034]SeeFigure 1~Figure 10 , A super-redundant continuum robot driven by a shape memory alloy. The robot is formed by a control box and three or more joints with the same structure installed on one side of the control box through connecting pieces in series. A super-redundant continuum robot in which each joint is composed of two groups of deformable truss units with plane three degrees of freedom; each joint has a shape memory alloy spring as a driver, and each joint The platform is equipped with a circuit board of a suitable size; the shape memory alloy spring is energized and heated to cause thermal deformation to achieve independent control of the bending deformation of three different joints, and the movement of the continuum robot is realized through the coupling movement between the different joints; each; The joint has a passive deformable truss unit as the support of the robot, and the unlocked deformable truss rod is driven by the shape memory alloy spring to realize the...

Embodiment 2

[0037]This embodiment is basically the same as the first embodiment, and the special features are:

[0038]SeeFigure 1~Figure 10 Each joint is composed of two groups of deformable truss units with three degrees of freedom in the plane, including a bottom plate 1, a deformable truss unit 3, a circuit board 4 of appropriate size, a support plate 5, a shape memory alloy spring 6, and Both ends of the deformed truss unit 3 are hinged to the bottom plate 1 and the supporting plate 5 through hinges 2, and the two supporting plates 5 in the middle of each joint are connected by bolts and nuts. A circuit board 4 of a suitable size is arranged on the bottom plate 1, shape memory The alloy spring 6 passes through the support plate 5 and is fixed on the two circuit boards 4 to form a set of drive units. Each joint has three or more drive units arranged in parallel on the upper and lower planes, and the shape memory alloy spring energized wire connects each circuit. All the driving units of the u...

Embodiment 3

[0048]This embodiment is basically the same as the above embodiment, and the special features are:

[0049]Such asimage 3 The structure diagram of a single joint of the super-redundant continuum robot driven by the shape memory alloy of this embodiment includes a base plate 1, a deformable truss unit 3, a circuit board 4 of a suitable size, a support plate 5, a shape memory alloy spring 6, and Both ends of the deformed truss unit 3 are hinged to the bottom plate 1 and the supporting plate 5 through hinges 2, and the two supporting plates 5 in the middle of each joint are connected by bolts and nuts. A circuit board 4 of a suitable size is arranged on the bottom plate 1, shape memory The alloy spring 6 passes through the support plate 5 and is fixed on two circuit boards to form a group of driving units. The upper and lower planes of each joint are arranged in parallel with three groups of driving units. The shape memory alloy spring energizing wire is connected to each circuit board. T...

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Abstract

The invention relates to a hyper-redundant continuum robot driven by a shape memory alloy. The hyper-redundant continuum robot is formed by connecting a control box and three joints which are arrangedon one side of the control box and are of the same structure through connecting pieces end to end in series, and each joint consists of two groups of deformable truss units with three degrees of freedom of a plane. Each joint is provided with a shape memory alloy spring as a driver; through arrangement of a circuit board in a proper size between every two joints, and by utilizing the characteristic that the shape memory alloy spring is powered on and heated to generate phase change shrinkage, the bending deformation of three different joints can be controlled separately; and the movement of the continuum robot is achieved through coupled motion between different joints. According to the hyper-redundant continuum robot, the shape memory alloy spring can be directly driven through current heating, the robot has the advantages of simple structure, light weight and easy control, and the degree of freedom of each joint can be independently controlled through the shape memory alloy spring.

Description

Technical field[0001]The invention relates to the field of continuum robots, in particular to a super-redundant continuum robot driven by a shape memory alloy.Background technique[0002]Continuum robot is a new type of bionic robot with flexibility and flexibility. The elastic deformation of the main body makes the robot bend continuously along the length direction to form a movement similar to elephant trunk and octopus tentacles. By changing its shape, the continuum robot can flexibly bypass various obstacles or pass through narrow and curved holes, which is very suitable for applications in unstructured environments and space-constrained environments. In addition, similar to the action of an elephant grabbing food through its nose, the continuum robot can also grab objects only through the body. The above-mentioned excellent performance makes the continuum robot have great application prospects in the fields of aviation inspection, medical surgery, urban rescue, and industrial man...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1085
Inventor 田应仲朱义赵胤君姜汉斌田振宇李龙王文斌奚风丰
Owner SHANGHAI UNIV
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