Bending and twisting combined soft actuator

An actuator and bending technology, applied in the field of robotics, to achieve the effect of reducing redundancy, ensuring stability, and high efficiency of action execution

Pending Publication Date: 2021-03-19
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a soft actuator combined with bending and twisting to solve the technical problem that the existing soft robot modules cannot simultaneously realize twisting and bending movements in one module

Method used

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  • Bending and twisting combined soft actuator
  • Bending and twisting combined soft actuator
  • Bending and twisting combined soft actuator

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Embodiment Construction

[0035] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or im...

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Abstract

The invention provides a bending and twisting combined soft actuator comprising a bending and twisting structure, a top connecting plate, a bottom connecting plate, external air pipes, a twisting inner cavity and at least two bending inner cavities. The bending and twisting structure comprises a bending body and at least two bending units extending outwards from the surface of a twisting unit; thetop connecting plate is arranged at one end of the bending and twisting structure; the bottom connecting plate is arranged at the other end of the bending and twisting structure; the external air pipes are arranged on the bottom connecting plate; the twisting inner cavity is formed in the twisting unit, one end of the twisting inner cavity is closed through the top connecting plate, and the otherend of the twisting inner cavity is communicated with the corresponding external air pipe; and the at least two bending inner cavities are formed in the two bending units respectively, one end of each bending inner cavity is closed through the top connecting plate, and the other end of each bending inner cavity is communicated with the corresponding external air pipe. According to the bending andtwisting combined soft actuator, the bending and twisting movement effects can be simultaneously realized under the same module, the redundancy of a robot system is reduced, the structure is simple,integrated manufacture can be achieved, and the control difficulty of the robot system is simplified.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a soft actuator combined with bending and torsion. 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. Soft-actuated modules can achieve complex movements with relatively simple control, which has advantages over traditional electromechanical systems. Soft actuation modules are also practical due to their compatibility with pneumatic and hydraulic pressures generated by various fluids and gases, and have proven to be a robust and durable solution ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/00
Inventor 王勇张健吕仲明肖飞云姜明亮陈恩伟陆益民刘正士
Owner HEFEI UNIV OF TECH
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