Soft robot based on magnetorheological fluid and driving method thereof
A technology of magnetorheological fluid and driving method, applied in the field of robotics, can solve the problems of difficulty in precise control of output displacement and output force, etc.
Pending Publication Date: 2022-04-05
HARBIN INST OF TECH
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Problems solved by technology
However, since the matrix materials of current soft robots are mainly soft materials, this leads to theoretically unlimited degrees of freedom for soft robots, and it is difficult to precisely control the output displacement and output force.
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[0015] A soft robot based on magnetorheological fluid, including a soft robotic arm 1 and a liquid supply mechanism;
[0016] Among them, such as Figures 1 to 4 As shown, the soft robotic arm 1 includes a silicone rubber main body 11, a flow channel 12, a magneto-rheological fluid 13 and a woven fiber net 14, wherein at least three flow channels 12 are arranged in the silicone rubber main body 11 to form a connection with the flow channel 12 The same number of wall structures, the wall structure includes a silicone rubber grid tube wall 121 and a silicone rubber smooth tube wall 122; preferably, the silicone rubber main body 11, the silicone rubber grid tube wall 121 and the silicone rubber smooth tube wall The wall 122 is integrally formed;
[0017] Among them, such as figure 1 As shown, the liquid supply mechanism includes a silicone tube 2, a solenoid valve 3, a hydraulic cylinder 4 and a hydraulic pump 5;
[0018] Specifically, the soft manipulator 1 is preferably cyli...
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The invention relates to the technical field of robots, in particular to a soft robot based on magnetorheological fluid and a driving method of the soft robot. The soft robot based on the magnetorheological fluid comprises a soft mechanical arm and at least three flow channels which are located in the soft mechanical arm and evenly distributed in the circumferential direction, and the flow channels are filled with the magnetorheological fluid. And the liquid supply mechanism is filled with magnetorheological fluid. The driving method comprises the following steps that S1, pressure is independently applied to magnetorheological fluid in different flow channels, and directional bending or stretching and retracting of the soft mechanical arm are achieved; and S2, when the soft mechanical arm reaches a designated position, an external magnetic field is applied, the rigidity of the magnetorheological fluid affected by the magnetic field is increased, and setting and maintaining of the preset action of the soft mechanical arm are achieved. The system has the advantages of being low in energy consumption, easy to control, fast in response, high in integration degree and large in bearing capacity.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a magneto-rheological fluid-based soft robot and a driving method thereof. Background technique [0002] Due to its multi-degree-of-freedom, high compliance and high robustness, soft robots have shown broad application prospects in industrial production, medical rehabilitation, service, detection and other fields. However, since the matrix materials of current soft robots are mainly soft materials, this leads to theoretically unlimited degrees of freedom of soft robots, and it is difficult to precisely control the output displacement and output force. [0003] Structures with actively controlled stiffness allow multifunctional interactions between soft machines and their environments. On the one hand, the high stiffness makes possible the simultaneous output of high precision, high speed and high force of the robot. On the other hand, with low stiffness, the robot can achieve hi...
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IPC IPC(8): B25J9/00B25J9/14
Inventor 周德开张永昌权家乐李朋春岳红尔刘家豪郑杰
Owner HARBIN INST OF TECH