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Pneumatic soft linear driver based on triple-period minimal curved surface

A linear actuator and extremely small curved surface technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of large output force and displacement of soft linear actuators, and achieve compact size, high volume energy density, and excellent load capacity. Effect

Active Publication Date: 2022-03-08
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] None of the existing patents has achieved a soft linear actuator with pure uniaxial deformation, infinite extension in space, and large output force and displacement

Method used

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  • Pneumatic soft linear driver based on triple-period minimal curved surface
  • Pneumatic soft linear driver based on triple-period minimal curved surface
  • Pneumatic soft linear driver based on triple-period minimal curved surface

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] like figure 1 and figure 2 As shown in the figure, a pneumatic soft linear actuator based on triple periodic minimal curved surface includes: a flange 1, a cavity 2 and an end cover 3; one end of the cavity 2 is installed with the flange 1, and the other end of the cavity 2 is installed with an end cover 3, The cavity 2 includes a plurality of unit cavities 23, and the plurality of unit cavities 23 are arranged and connected in an array. Cavity 2 generates holes in the direction of length, width and height through Schwarz-P triple periodic minimal surfaces, and the holes are sealed by sealing surface 21 on the peripheral side of cavity 2 . Mounting holes 22 are provided on both ends of the cavity 2 toward the flange 1 and the end cover 3, and the mounting holes 22 communicate with the holes. The flange 1 and the end cover 3 are provided with positioning columns facing the side of the cavity 2. The flange 1 and the end cover 3 are respectively installed in the install...

Embodiment 2

[0064] Example 2 is a preferred example of Example 1.

[0065] like figure 1 and figure 2 As shown, this embodiment includes: a cavity 2, an end cover 3, a flange 1 and a pneumatic joint. The cavity 2 is formed by pre-compressing, thickening and closing the cavity by a plurality of arranged unit cavities 23 . The unit cavity 23 adopts a Schwarz-P triple periodic minimal surface. The cavity 2 is made of 3D printed soft material Agilus 30, and the end cap 3 is made of Verowhite hard material, which can be integrally processed by a 3D printer.

[0066] The average curvature of the Schwarz-P triple periodic minimal surface is 0 everywhere, which can be obtained by the approximate implicit equation Express. The cavity 2 is a periodically repeating curved surface, and the unit cavity 23 can be defined by get. The Schwarz-P triple periodic minimal surface has a large surface area-to-volume ratio, and is smooth and continuous in the entire space, dividing the space into two. ...

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Abstract

The invention provides a pneumatic soft linear driver based on a triple-period minimal curved surface. The pneumatic soft linear driver comprises a flange, a cavity and an end cover, one end of the cavity is provided with the flange, and the other end of the cavity is provided with the end cover; the cavity comprises a plurality of unit cavities, and the plurality of unit cavities are arranged in an array and are connected. Pure single-shaft linear driving can be achieved, the performance of zero Poisson's ratio is achieved, the strain is large, meanwhile, the excellent load capacity is achieved, and the volume energy density is high.

Description

technical field [0001] The invention relates to the research field of soft robots, in particular to a pneumatic soft linear actuator based on a triple-period minimal curved surface. Background technique [0002] Soft pneumatic actuators refer to actuators that are composed of soft materials with low elastic modulus, have high flexibility, and are driven by gas. Because the prepared material has good flexibility, can withstand large strains, and has strong compliance and environmental adaptability. At the same time, it has good safety in the process of human-computer interaction, so it has a good application prospect, such as surgery using a micro-manipulator with a software driver. [0003] The existing pneumatic linear actuator has a simple structure, and usually has obvious expansion in all directions during pressurization, and additional reinforcing materials such as fibers are required to limit deformation in other directions. In addition, the traditional bellows desig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/14B25J11/00
CPCB25J11/00B25J9/14B25J9/142Y02P10/25
Inventor 陈飞飞缪云鹏陈世通朱向阳
Owner SHANGHAI JIAO TONG UNIV