Pneumatic muscle and hyperelastic rod combined continuum snakelike arm

Abstract

The invention discloses a pneumatic muscle and hyperelastic rod combined continuum snake-shaped arm which comprises a plurality of sections of variable stiffness drivers which are detachably connected into a whole. The variable stiffness driver comprises a soft body end plate, a soft body pneumatic unit, a hyperelastic rod mechanism, a limiting triangular end plate and a connecting sleeve; the hyperelastic rod mechanism comprises three hyperelastic control rods and a middle main rod. The four hyperelastic rods penetrate through the soft pneumatic unit from one ends of the drivers and extend to the corresponding drivers. The soft pneumatic unit and the two soft end plates are bonded together through hot glue. The limiting triangular end plates are installed at the two ends of the soft pneumatic unit and sealed through the soft end covers. The connecting sleeve is used for connecting the two drivers through a gap buckle of the soft body end cover; every two adjacent drivers can be detached through the corresponding sleeve. The soft pneumatic units and the hyperelastic rods form opposite-direction force effects, and rigidity change control over the snakelike arm is achieved.

Description

technical field

[0001] The invention relates to a mechanical arm, in particular to a continuum serpentine arm combined with pneumatic muscles and superelastic rods. Background technique

[0002] Due to limited flexibility, poor safety and adaptability, traditional robots face great challenges in some special applications, such as medical surgery, human-computer interaction, and engine internal search and detection. The emergence and development of soft robot technology provides new ideas for solving the problems of safety and compliance in traditional robots. But so far, research on soft robots is still in its infancy, and there is a certain gap between its output performance (such as output force and positioning accuracy) and traditional robots and application requirements.

[0003] However, the output force and stiffness of current soft manipulators are affected by soft materials, driving methods and structural forms, which limits their ability to work in special environm...

Examples

Embodiment Construction

[0028] Such as figure 1 As shown, the continuum serpentine arm combined with the pneumatic muscle and the superelastic rod provided in this embodiment includes several detachably connected variable stiffness drivers A; as shown in FIG. figure 2 As shown, the variable stiffness driver includes a soft end plate 1 , a superelastic rod mechanism and a limiting triangular end plate 2 , a soft pneumatic unit 3 , and a connecting sleeve 4 .

[0029] Such as figure 2 , image 3 As shown, the soft end plate 1 is a ring plate, which is bonded to both ends of the soft pneumatic unit, and a main rod through hole 11 is provided at the center of the soft body for the superelastic main rod to pass through and then connected to the next variable stiffness driver. It can reduce its own weight; there are 6 through holes arranged in a circular array around the through holes on the end plate of the soft body. The control rod through hole 13 is used for the control rod to pass through and the...

technical field

[0001] The invention relates to a mechanical arm, in particular to a continuum serpentine arm combined with pneumatic muscles and superelastic rods. Background technique

[0002] Due to limited flexibility, poor safety and adaptability, traditional robots face great challenges in some special applications, such as medical surgery, human-computer interaction, and engine internal search and detection. The emergence and development of soft robot technology provides new ideas for solving the problems of safety and compliance in traditional robots. But so far, research on soft robots is still in its infancy, and there is a certain gap between its output performance (such as output force and positioning accuracy) and traditional robots and application requirements.

[0003] However, the output force and stiffness of current soft manipulators are affected by soft materials, driving methods and structural forms, which limits their ability to work in special environm...

Examples

Embodiment Construction

[0028] Such as figure 1 As shown, the continuum serpentine arm combined with the pneumatic muscle and the superelastic rod provided in this embodiment includes several detachably connected variable stiffness drivers A; as shown in FIG. figure 2 As shown, the variable stiffness driver includes a soft end plate 1 , a superelastic rod mechanism and a limiting triangular end plate 2 , a soft pneumatic unit 3 , and a connecting sleeve 4 .

[0029] Such as figure 2 , image 3 As shown, the soft end plate 1 is a ring plate, which is bonded to both ends of the soft pneumatic unit, and a main rod through hole 11 is provided at the center of the soft body for the superelastic main rod to pass through and then connected to the next variable stiffness driver. It can reduce its own weight; there are 6 through holes arranged in a circular array around the through holes on the end plate of the soft body. The control rod through hole 13 is used for the control rod to pass through and the...

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