Steerable rope-pulled soft robot and control method
A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of increasing the number of drives and the weight of the robot body, difficulty in control, and high cost, and achieve the convenience of physical debugging, avoid errors, and save money. Effect
Active Publication Date: 2022-03-04
SOUTHEAST UNIV
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Problems solved by technology
However, this method will increase the number of drives and the weight of the robot body, which is costly and difficult to control
Method used
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[0025] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0026] The invention provides a steerable rope traction type soft robot and a control method, the robot can realize straight line and curve travel and direction change.
[0027] As a specific embodiment of the present invention, the present invention provides a rope traction type soft robot, specifically as Figure 1-4 As shown, it includes a soft robot and its steering gear loading platform, steering gear, and traction rope. The steering gear loading platform is fixed at the center of the body, and interfaces are left on the loading platform and on the side for fixing the steering gear;
[0028] The steering gear is fixed on the interface of the steering gear loading platform;
[0029] The soft robot is made of FlexFoam-iT III polyurethane soft foam material, and the soft robot has a cuboid structure;
[0030] The traction rope is fixed on th...
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The invention provides a steerable rope-pulled soft robot and a control method, including a soft robot, a steering gear loading platform, a steering gear and a traction rope. The two ends of the soft robot in the shape of a cuboid are the left end of the soft robot fuselage and the soft body respectively. At the right end of the robot body, the steering gear loading platform is fixed at the center of the body of the software robot, and the upper and side surfaces of the steering gear loading platform are provided with interfaces for fixing the steering gear; the steering gear has six; the traction rope has Six, each traction rope corresponds to a steering gear, the traction rope is fixed on the upper, bottom and side of the robot software through the upper, bottom and side pins of the robot software, in a "U" shape and both ends are connected with the corresponding steering gear; this The invention provides a steerable rope-pulled soft robot and a control method, which can realize straight and curved travel and direction change.
Description
technical field [0001] The invention relates to the field of shaft-type rope-drawn soft robots, in particular to a steerable rope-drawn soft robot and a control method. Background technique [0002] Soft robots are a new type of soft robots that can adapt to various unstructured environments and interact with humans more safely. At present, the soft robots with relatively complete technology are mainly aerodynamic methods, and the research on soft robots with rope traction is still not perfect. The rope traction method is a control method that controls the rotation of the small steering gear through the program, drives the traction rope on the body to control the movement of the body, and mostly adopts the design of the rear drive. In order to ensure the free crawling of the rope-tracted soft robot, it is necessary to integrate the drive module, the transmission mechanism and the soft robot body. In addition, a large number of existing soft crawling robots mostly walk in a...
Claims
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IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/104B25J9/1615
Inventor 朱利丰田博闻省艺博赵楚凝史睿宋爱国张嵬陆希
Owner SOUTHEAST UNIV