Continuous spiral nested constraint pneumatic variable-stiffness flexible arm

Abstract

A continuous spiral nested constraint pneumatic variable-rigidity flexible arm is composed of a screw, an upper sealing end cover, an upper plug, three sets of inner air bags, a lower plug, an outer air bag, filler, a continuous spiral constraint ring, a lower sealing end cover and an air pipe connector, the three sets of inner air bags are distributed in parallel at 120 degrees, and the upper plug and the lower plug are fixedly connected with the two ends of the inner air bags respectively. The outer side of each inner air bag is provided with the outer air bag and the continuous spiral constraint ring, constraint is achieved through the upper sealing end cover and the lower sealing end cover, the filler is arranged between the inner air bags and the outer air bag, universal bending and stretching of the flexible arm can be achieved by controlling the input air pressure of the inner air bags, and the inner air bags expand and deform after being inflated with air pressure to push the filler and the outer air bag to extrude the continuous spiral constraint ring at the same time. The rigidity of the flexible arm is obviously improved, the larger the introduced air pressure is, the more obvious the rigidity improvement is, the variable-rigidity function of the flexible arm can be achieved by adjusting the air pressure, the structure is simple, using is convenient, the variable-rigidity effect is obvious, and it can be guaranteed that the pose of the flexible arm is kept in real time.

Description

technical field [0001] The invention belongs to the field of flexible robots, and relates to a continuous helical nesting constrained aerodynamic variable stiffness flexible arm. Background technique [0002] Flexible robots have the advantages of good compliance, flexible movement, many degrees of freedom, good environmental adaptability, and safe human-computer interaction. However, this type of robot has the defect of insufficient rigidity. In order to make up for this defect and improve the carrying capacity of flexible robots, scientists are committed to In order to study variable stiffness structures, scientists currently design driving or braking methods based on the plugging principle. This type of method mainly uses the application of vacuum to cause "phase transition", increasing the shear stress between fillers, and achieving filling under certain conditions. The transformation between the gaseous state and the fixed state; Ranzani et al. proposed an endoscopic su...

AI Technical Summary

Problems solved by technology

[0003] The invention provides a continuous helical nesting constraint pneumatic variable stiffness flexible arm, which can overcome the defect of insufficient rigidity of the current flexible robot under the premise of ensuring the flexible movement of the flexible robot arm, and realize the arbitrary direction of the three-dimensional space of the robot arm under the action of the pressure gas The function of bending and stretching at any angle, and at the same time, it can maintain any pose of the robot arm

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