Flexible driving structure, flexible driver and driving system

Abstract

The invention relates to the technical field of flexible robots, in particular to a flexible driving structure, a flexible driver and a driving system. The flexible driving structure comprises connecting pieces and at least one driving assembly, and each driving assembly comprises an elastic restraining piece, a flexible driving piece and a pre-tightening piece. A cavity which extends in the axial direction of each flexible driving piece and is used for connecting in fluid is formed in the flexible driving piece, the elastic restraining pieces are arranged on the outer walls of the flexible driving pieces in a surrounding mode, the connecting pieces are arranged at the two ends of the elastic restraining piece in the axial direction, the elastic restraining pieces are connected with the connecting pieces through the pre-tightening pieces, and the pre-tightening pieces extend in the axial directions of the flexible driving pieces. By means of the flexible driving structure, the size, shape and rigidity of a flexible robot can be greatly changed, the flexible robot has the controllable rigidity modulation capacity, the low rigidity enables the flexible robot to have adaptability and compliance to the environment, the interaction safety is guaranteed, and the high rigidity can be used for forming a rigid operation platform. The force can be transmitted and the loads can be borne, so that the control precision is improved.

Description

technical field [0001] The invention relates to the technical field of flexible robots, in particular to a flexible driving structure, a flexible driver and a driving system. Background technique [0002] Soft robots made of deformable or less rigid materials have better adaptability, consistency, and safety in interacting with the environment than traditional rigid robots. At present, flexible body robots have been used in various fields, such as sports robots, bionic robots, rehabilitation training robots, minimally invasive surgery, etc. Since the soft robot is made of flexible and compliant materials, it can deform according to the surrounding environment and is an ideal structure for interacting with the unstructured environment. However, there are still many challenges in application. [0003] The tasks faced by flexible robots are complex and unpredictable. In order to expand the scope of application of flexible robots, in practical applications, it is convenient an...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a flexible driving structure, flexible driver and driving system, which are used to solve the defect that the rigidity of the flexible robot is difficult to control and adjust in the prior art, and realize a large change in volume, shape and stiffness of the flexible robot, so that the flexible robot With the ability of controllable stiffness modulation, low stiffness makes soft robots adaptable and adaptable to the environment, ensuring the safety of interaction, while high stiffness can be used to form a stable rigid operating platform, transmit force and bear load, and improve control precision

Images