Variable stiffness soft body snake arm

Abstract

The invention discloses a soft serpentine arm with variable stiffness, which includes several rigid-flexible units detachably connected together; plate; the superelastic multi-rod mechanism includes a plurality of superelastic rods, one end of the superelastic rod is assembled on the end plate, and the other end passes through the other end plate and extends into the superelastic rod of the adjacent rigid-flexible unit; the soft pneumatic artificial muscle The group includes a plurality of pneumatic artificial muscles assembled between two end plates and located outside the superelastic multi-rod mechanism; the limit partition is set outside the superelastic multi-rod mechanism; two adjacent rigid-flexible units are detachably connected through the end plates. The soft pneumatic artificial muscles are used to provide soft bending movement capabilities, and multiple superelastic rods act as motion guides. Through the interaction formed by the pneumatic artificial muscles and the superelastic rods, the stiffness of the serpentine arm is variable and controllable, making the serpentine The arm is able to achieve different poses to improve the kinematic precision of the working end of the snake-like arm.

Description

technical field

[0001] The invention relates to a mechanical arm, in particular to a soft serpentine arm with variable stiffness. Background technique

[0002] Due to the limited flexibility, poor safety and adaptability of traditional robotic arms, it is limited in some special applications. For example, in the fields of medical surgery, human-computer interaction, engine internal search and detection, etc. Fast self-adaptation and high-precision continuous displacement with multiple degrees of freedom in space, traditional manipulators with basically constant stiffness or discrete changes are difficult to achieve the expected functional requirements. The emergence and development of software snake-like arm technology provides new ideas for solving the problems of safety and compliance of traditional robotic arms.

[0003] However, at present, soft snake-like arms usually use soft smart materials as the main body, which lacks appropriate end position accuracy, output force...

Examples

Embodiment Construction

[0027] Such as figure 1 As shown, the variable stiffness soft serpentine arm provided in this embodiment includes several rigid-flexible units A that are detachably connected as one; figure 2 As shown, the rigid-flexible unit A includes a rigid end plate 1 , a soft pneumatic artificial muscle group 2 , a superelastic multi-rod mechanism 3 and a spacer 4 .

[0028] Such as figure 2 , image 3 As shown, the rigid end plate 1 is a ring plate, and a through hole 11 is provided at the axial center for the passage of air ducts and cables while reducing its own weight; The three mounting seats 12, the mounting seat is an annular seat that is not closed in the radial direction, and the plate body in the mounting seat is provided with a reserved hole 13, the reserved hole is reserved for installing the sensor and can reduce the weight at the same time. A pair of mounting holes 14 are provided, and one end of the mounting seat is fixedly connected to the rigid end plate, and the mo...

technical field

[0001] The invention relates to a mechanical arm, in particular to a soft serpentine arm with variable stiffness. Background technique

[0002] Due to the limited flexibility, poor safety and adaptability of traditional robotic arms, it is limited in some special applications. For example, in the fields of medical surgery, human-computer interaction, engine internal search and detection, etc. Fast self-adaptation and high-precision continuous displacement with multiple degrees of freedom in space, traditional manipulators with basically constant stiffness or discrete changes are difficult to achieve the expected functional requirements. The emergence and development of software snake-like arm technology provides new ideas for solving the problems of safety and compliance of traditional robotic arms.

[0003] However, at present, soft snake-like arms usually use soft smart materials as the main body, which lacks appropriate end position accuracy, output force...

Examples

Embodiment Construction

[0027] Such as figure 1 As shown, the variable stiffness soft serpentine arm provided in this embodiment includes several rigid-flexible units A that are detachably connected as one; figure 2 As shown, the rigid-flexible unit A includes a rigid end plate 1 , a soft pneumatic artificial muscle group 2 , a superelastic multi-rod mechanism 3 and a spacer 4 .

[0028] Such as figure 2 , image 3 As shown, the rigid end plate 1 is a ring plate, and a through hole 11 is provided at the axial center for the passage of air ducts and cables while reducing its own weight; The three mounting seats 12, the mounting seat is an annular seat that is not closed in the radial direction, and the plate body in the mounting seat is provided with a reserved hole 13, the reserved hole is reserved for installing the sensor and can reduce the weight at the same time. A pair of mounting holes 14 are provided, and one end of the mounting seat is fixedly connected to the rigid end plate, and the mo...

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