Steerable soft crawling robot based on shape memory alloy driving and control method of steerable soft crawling robot

A technology of crawling robots and memory alloys, which is applied to mechanisms that generate mechanical power, machines/engines, manipulators, etc., can solve the problems of inconvenient assembly and manufacturing, increased weight, etc., and achieve light weight, small lateral volume space occupation, and structural simple effect

Inactive Publication Date: 2021-11-05
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the superhelical polymer actuator and the skin structure realize the soft body function of the crawling robot, the return spring and the 3D printed foot structure add weight to the whole structure and also bring inconvenience to assembly and fabrication

Method used

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  • Steerable soft crawling robot based on shape memory alloy driving and control method of steerable soft crawling robot
  • Steerable soft crawling robot based on shape memory alloy driving and control method of steerable soft crawling robot
  • Steerable soft crawling robot based on shape memory alloy driving and control method of steerable soft crawling robot

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Embodiment Construction

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0030] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than ...

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Abstract

The invention provides a steerable soft crawling robot based on shape memory alloy driving and a control method of the steerable soft crawling robot. The robot is composed of a flexible body, flexible feet, flexible springs, a shape memory alloy driver and a wireless induction coil, wherein the flexible body consists of a head part and a tail part, and the flexible feet are distributed on the bottom surfaces of the head part and the tail part; the flexible feet have directivity, and provided backward friction force is smaller than provided forward friction force; the head part and the tail part of the flexible body are connected through the flexible springs and the shape memory alloy driver; the shape memory alloy driver is formed by wrapping a shape memory alloy wire with a flexible substrate structure; and the wireless induction coil wraps the flexible body, is connected with the shape memory alloy driver and is used for heating the shape memory alloy wire in the shape memory alloy driver. The steerable soft crawling robot has the advantages of being simple in structure, small in size and light in weight.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a steerable soft crawling robot driven by a shape memory alloy. Background technique [0002] Soft robots are made of flexible materials that can be continuously deformed to change their size and shape arbitrarily. Compared with traditional rigid-body robots, they have the characteristics of small size, light weight, safety, and good environmental adaptability. They can assist humans to enter complex and narrow spaces for operations, and have broad application prospects. [0003] At present, the common soft crawling robots are mostly made of flexible materials with low Young's modulus, such as silicone rubber, hydrogel, braids, etc., combined with shape memory alloy (Shape Memory Alloy, SMA), dielectric elastomer (DielectricElastomer) And the special driving mechanism of smart materials such as Ionic polymer-metal composites (IPMC), using external physical fields such as lig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02F03G7/06B25J11/00B25J19/00B25J13/00
CPCB62D57/02B25J11/00B25J19/00B25J13/00
Inventor 罗建军王新亮惠旭晟孙浩
Owner NORTHWESTERN POLYTECHNICAL UNIV
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