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Soft continuous robot based on modularized paper folding type pneumatic artificial muscle

A pneumatic artificial muscle and continuous technology, applied in the field of robotic arms, can solve problems such as troublesome disassembly, discrete airbag driving process, and complex configuration, and achieve the effects of convenient assembly and disassembly, avoiding discreteness, and flexible movement

Active Publication Date: 2022-07-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention has a light and compact overall structure, exquisite control, wide application places, and strong continuous deformation ability, which solves the problems of complex configuration of the driver of the existing soft manipulator, troublesome disassembly, discrete airbag driving process, and only small-scale space work.

Method used

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  • Soft continuous robot based on modularized paper folding type pneumatic artificial muscle
  • Soft continuous robot based on modularized paper folding type pneumatic artificial muscle
  • Soft continuous robot based on modularized paper folding type pneumatic artificial muscle

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] like Figures 1 to 12 As shown, the present invention includes a base 1 and joints with the same multi-layer structure and connected in series, wherein the base 1 is connected with the joints on the first layer, and the number of installation layers of the joints is determined flexibly according to the range of motion space; To replace the inflatable modules 3, there are multiple replaceable inflatable modules 3 on each layer (three in this embodiment), which are evenly distributed along the circumferential direction. The two ends of each replaceable inflatable module 3 on each layer are connected with connecting plates 2, adjacent to each other. The joints of the two layers are connected by a connecting plate 2, and the base 1 is connected with the connecting plate 2 located above the joints of the first layer; the replaceable inflatable module 3 incl...

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Abstract

The invention belongs to the field of mechanical arms, and particularly relates to a soft continuous robot based on modularized paper folding type pneumatic artificial muscles, which comprises a base and a plurality of layers of joints which are identical in structure and are connected in series, and the base is connected with the joint of the first layer; the joints comprise connecting plates and replaceable inflation modules, a plurality of replaceable inflation modules are arranged on each layer and are uniformly distributed in the circumferential direction, the two ends of each replaceable inflation module on each layer are connected with the connecting plates, and the joints of every two adjacent layers are connected through the connecting plates; each replaceable inflation module comprises an air bag and a paper folding structure, the paper folding structures are connected with the air bags, the deformation process of the air bags is restrained, and the paper folding structure of each replaceable inflation module is connected with the two connecting plates on the same layer. A paper folding structure is used for carrying out deformation constraint on the air bag, and discreteness is avoided; flexible configuration of the pneumatic driver is achieved through the replaceable inflation module, mounting and dismounting are convenient, and compared with a traditional pneumatic soft mechanical arm, manufacturing is easy, and flexibility is higher.

Description

technical field [0001] The invention belongs to the field of mechanical arms, in particular to a soft continuous robot based on modular origami pneumatic artificial muscles. Background technique [0002] With the development of robotics, various fields will become a vast world of robotics applications, among which robotic arms are more widely used. At present, pneumatic soft robotic arms show great development potential in medical, manipulation, exploration, and wearable fields due to their high flexibility, intrinsic compliance, and safe interactivity. However, the pneumatic soft robot airbag is easy to leak, and if there is a brake problem, it is particularly inconvenient to disassemble and assemble; and the installation of a new airbag is also easy to damage the airbag, which brings great trouble to the installation of the pneumatic software robot arm. The soft continuous manipulator with replaceable inflatable modules based on origami structure expands the application f...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J9/10B25J18/02
CPCB25J9/142B25J9/1075B25J18/025
Inventor 刘玉旺石文平陈鹏于艺陈剑豪袁忠秋
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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