Parallel torsion soft robot module

Abstract

The invention provides a parallel torsion soft robot module. The parallel torsion soft robot module comprises a soft torsion structure, a top connecting plate, a bottom connecting plate, an outer driving cavity and an inner driving cavity; the soft torsion structure comprises at least one inner elastic torsion main body and at least one outer elastic torsion main body which are coaxially arrangedfrom inside to outside; the top connecting plate is arranged at one end of the soft torsion structure; the bottom connecting plate is arranged at the other end of the soft torsion structure; the bottom connecting plate, the top connecting plate, the inner elastic torsion main body and the outer elastic torsion main body jointly define the outer driving cavity; and the bottom connecting plate, thetop connecting plate and the inner elastic torsion main body jointly define the inner driving cavity. By means of the parallel type torsion soft robot module, large torsion motion can be achieved, large torque is achieved, in addition, manufacturing is easy, integral forming can be achieved, and the stability and reliability of robot joint motion can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a parallel torsion soft robot module. Background technique [0002] In recent years, with the emergence of new materials and the improvement of processing and manufacturing technology, there has been an upsurge in the study of soft robots worldwide. Soft robots are a new way of thinking in robot research. Inspired by nature, researchers have begun to explore. Design and control of soft robots composed of flexible materials. Modularity has proven utility in soft robotics, simplifying control and increasing system redundancy. For robot application fields with quality requirements and complex environments, such as deep sea field and rehabilitation robot field, soft pneumatic torsion joints can replace traditional mechanical torsion joints to a certain extent. Soft-actuated modules can achieve complex movements with relatively simple control, which has advantages over traditional el...

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Problems solved by technology

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a parallel torsion soft robot module to solve the problem that the torsion modules of the existing soft robot can only act in series to cause super-redundancy of the mechanical arm, and increase the mechanical The instability of the arm, while the technical problem of the small torsional moment of the torsional software modules connected in series

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