Pneumatic worm-like soft control arm and preparation method thereof

A technology for manipulating arms and body arms, which is applied in the direction of claw arms, manufacturing tools, manipulators, etc., can solve the problems of coupling torsion modeling, low control precision of underactuated systems, and difficulty in elongation and bending of soft robots, and achieve reduction Abnormal expansion and torsion, the effect of improving stability

Pending Publication Date: 2021-03-09
HUAZHONG UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

The expansion phenomenon will limit the working area of ​​the soft robot to a small range of air pressure, and will make it difficult for the soft robot to achieve elongation, bending and other movements
Unconstrained pneumatic soft robots will also be accompanied by abnor

Method used

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  • Pneumatic worm-like soft control arm and preparation method thereof
  • Pneumatic worm-like soft control arm and preparation method thereof
  • Pneumatic worm-like soft control arm and preparation method thereof

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0040] A kind of pneumatic imitation worm soft body control arm provided by the present invention, its design principle is that invertebrates such as worms and earthworms and soft organs such as octopus arms, elephant trunks, and chameleon tongues are all supported and completed on the basis of hydrostatic skeletal structures. a complex action. The hydrostatic skeleton is characterized by a cyl...

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Abstract

The invention discloses a pneumatic worm-like soft control arm and a preparation method thereof, and belongs to the field of fluid driving and soft robots. According to the pneumatic worm-like soft control arm, bidirectional symmetrical crossed and spirally wound fixing lines are designed by simulating a worm fiber membrane, the length of an elastic body arm can extend along with increase of the size when air pressure is applied to the elastic body arm, the radial expansion and torsion trend of the elastic body arm is limited, and a full-drive system with one cavity input only corresponding toone bending motion and completely free of coupling torsion is achieved, so that the abnormal expansion and torsion of the elastic body arm are reduced while the bending and extending actions of the elastic body arm in a three-dimensional space of the elastic body arm are realized, and the stability of the soft control arm is effectively improved; and an elastic body outer layer is arranged by simulating hydrostatic skeletons (octopus arms, trunk and chameleon tongue) widely existing in the nature, so that the bionic effect on a longitudinal muscle bundle, the fiber membrane and epidermis of aworm is realized from the structure, and the biological mechanism is better met.

Description

technical field [0001] The invention belongs to the field of fluid drive and soft robots, and more specifically relates to a pneumatic worm-like soft manipulator and a preparation method thereof. Background technique [0002] A traditional robot is a machine composed of rigid segments and connectors, and its motion is mainly based on changes in joint angles or positions between rigid segments. This type of machine has the characteristics of precise motion control and is widely used in military, industrial, logistics and other fields. However, with the increasing complexity of human requirements for the working environment of robots, the application requirements for robots have also increased. However, traditional robots are more suitable for working in free space due to the limitation of rigid structure on the working space, and have poor adaptability to complex unstructured restricted environments. For example, it is difficult to observe organisms through narrow reef gaps...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J19/00
CPCB25J18/00B25J19/007
Inventor 袁烨沈逸邓礼楠董云龙唐秀川
Owner HUAZHONG UNIV OF SCI & TECH
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