Flexible drive structure, flexible drive and drive system

A technology of flexible drive and drive structure, applied in the field of flexible robots, can solve the problems of difficult control and adjustment of the rigidity of flexible robots, low stiffness, etc., and achieve the effect of improving energy conversion efficiency and increasing stiffness

Active Publication Date: 2022-02-18
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Flexible drive structure, flexible drive and drive system
  • Flexible drive structure, flexible drive and drive system
  • Flexible drive structure, flexible drive and drive system

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Embodiment Construction

[0038] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0039] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed a...

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Abstract

The technical field of flexible robots of the present invention relates in particular to a flexible driving structure, a flexible driver and a driving system. The flexible driving structure includes a connecting piece and at least one driving assembly. The interior of the part is provided with a cavity extending along its axial direction for the passage of fluid, the elastic constraint is surrounded by the outer wall of the flexible driving part, and the connecting parts are arranged at both ends of the elastic constraint in the axial direction, and the elastic constraint The pre-tightening part is connected with the connecting part, and the pre-tightening part is arranged along the axial extension of the flexible driving part. The flexible driving structure of the present invention can make the flexible robot realize large changes in volume, shape and rigidity, so that the flexible robot has the ability of controllable stiffness modulation, and the low stiffness makes the flexible robot have adaptability and compliance to the environment, ensuring interaction The high rigidity can be used to form a rigid operating platform, transmit force and bear load, and improve control accuracy.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J18/06
CPCB25J9/0006B25J9/003B25J18/06
Inventor 廖洪恩胡成全陈佳琦张欣然
Owner TSINGHUA UNIV
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