Bending and twisting combined soft actuator

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 ...

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

Images