Driving and sensing integrated software actuator

An actuator and software technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of affecting the soft performance of the actuator, complex and cumbersome manufacturing process, etc., to improve environmental adaptability and reliability, low cost, and weakening. the effect of interference

Pending Publication Date: 2022-07-29
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0004] The main purpose of the present invention is to overcome the deficiencies of the prior art, and propose a soft actuator with integrated drive and perception, so as to solve the complex and cumbersome manufacturing process of the existing flexible and stretchable sensors and the execution will still be affected after being embedded in the soft actuator. The problem of soft performance of the device

Method used

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  • Driving and sensing integrated software actuator
  • Driving and sensing integrated software actuator
  • Driving and sensing integrated software actuator

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Embodiment Construction

[0021] In order to make the technical solution of the present invention clearer and more detailed to the extent that those skilled in the art can implement it, the present invention will be further described below with reference to the accompanying drawings.

[0022] like figure 1 As shown, an embodiment of the present invention provides a drive-sensing integrated soft actuator based on optical waveguide technology. The soft actuator includes an elastic housing 1 and an axially extending fluid channel formed inside the elastic housing 1. 2 and the light source 3 and the photodetector 4 respectively arranged at the two ports of the fluid channel 2 . The fluid channel 2 is connected to the hydraulic source of the software actuator, and the fluid 5 with a refractive index greater than the refractive index of the elastic shell is filled into the fluid channel 2 by controlling the hydraulic source to form an optical waveguide channel; the light emitted by the light source 3 passes...

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Abstract

The invention discloses a driving and sensing integrated soft actuator which is characterized by comprising an elastic shell, an axial fluid channel formed in the elastic shell, a light source and a photoelectric detector, and the light source and the photoelectric detector are arranged at two ports of the fluid channel respectively. Wherein the fluid channel is communicated with a hydraulic source of the soft body actuator, and liquid with the refractive index larger than that of the elastic shell is filled into the fluid channel by controlling the hydraulic source, so that an optical waveguide channel is formed; light emitted by the light source is transmitted to the photoelectric detector through the optical waveguide channel.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a software actuator with integrated driving and sensing based on optical waveguide technology. Background technique [0002] As an actuator, the software actuator is usually used to drive the soft robot, such as driving the extension of the soft robotic arm, driving the crawling of the soft crawler robot, etc. Due to the development of new manufacturing techniques and biomimicry, research on soft actuators is in full swing. Soft structures can provide a good solution for the safe interaction of robots and humans in complex and unstructured environments, and have shown broad application prospects in the fields of robotic arms, grippers, mobile robots, and exoskeletons / rehabilitation. With the continuous development of software robot modeling and control technology, and the transformation to practical applications, the demand for precise perception and control of the software ...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J11/00
CPCB25J11/00B25J9/10
Inventor 梁斌王学谦徐贺杰孟得山
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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