A pneumatic pressure-driven rolling soft robotic system

Abstract

The application relates to a kind of air pressure driving-based rolling soft robot systems, including soft robot and gas supply control system, the soft robot includes elastic circular ring frame, multiple soft drivers are equidistantly installed on the inner wall of the elastic circular ring frame, each soft driver is respectively connected with air pipe for soft driver loading, each soft driver is respectively provided with position sensor for detecting the position of soft driver;The gas supply control system is connected with each air pipe on the soft robot, and gas is supplied to the corresponding air pipe according to the set loading time and frequency, to drive the corresponding soft driver.The soft robot system is beneficial to realize continuous, stable and controllable rolling motion, and has strong environmental adaptability.

Description

Technical Field

[0001] This invention belongs to the field of soft robot technology, specifically relating to a pneumatically driven rolling soft robot system. Background Technology

[0002] In existing technologies, rigid rolling robots suffer from drawbacks such as complex structure, difficulty in maintenance, and poor environmental adaptability. With the application of new technologies and materials in various fields, soft robots have emerged as a new research field in recent years, attracting extensive research from scholars both domestically and internationally. Soft robots can adapt to various complex and unstructured environments and offer more user-friendly interactivity. However, some research on rolling robots has not thoroughly explained the rolling mechanism, failing to achieve stable multi-directional rolling. Furthermore, many rolling robots are electrically driven, leading to frequent malfunctions under complex working conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a pneumatically driven rolling soft robot system, which is conducive to achieving continuous, stable and controllable rolling motion and has strong environmental adaptability.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a pneumatically driven rolling soft robot system, comprising a soft robot and an air supply control system. The soft robot includes an elastic ring frame, on which multiple soft actuators are equidistantly mounted. Each soft actuator is connected to an air pipe for loading the soft actuator, and each soft actuator is equipped with a position sensor for detecting the position of the soft actuator. The air supply control system is connected to each air pipe on the soft robot and supplies air to the corresponding air pipe according to a set loading time and frequency to drive the corresponding soft actuator.

[0005] Furthermore, the soft actuator includes a soft actuator housing, one tracheal connection channel, n air chambers, and n-1 air chamber connection channels. The n air chambers are arranged sequentially, with the first air chamber connected to the tracheal connection channel, and adjacent air chambers directly connected through the air chamber connection channels. The applied air pressure enters the tracheal connection channel through the connecting tracheal pipe, and then enters the air chamber, causing the air chamber to expand under pressure. The applied air pressure then enters the next air chamber through the air chamber connection channels, causing the air chambers of the soft actuator to expand and deform sequentially, ultimately resulting in the soft actuator undergoing bending deformation.

[0006] Furthermore, the air supply control system includes an air pump, connecting air pipes, an air pressure control box, and an air pipe connector. The air pump is connected to the air pressure control box via the connecting air pipes to output high-pressure air to the air pressure control box. The air pressure control box is used to adjust the output air pressure, control which air pipe to supply air to, and the time and frequency of air supply. The air pressure control box is connected to the air pipe connector and is connected to each air pipe via the air pipe connector.

[0007] Furthermore, eight soft actuators are equidistantly installed within the elastic annular frame.

[0008] Furthermore, the elastic ring frame deforms under the influence of gravity. At this point, a coordinate system is established, with the top of the elastic ring frame shape set as the origin s0 of the natural coordinate system. The elastic ring frame shape is symmetrical about the y-axis, and its total length is... Establish the following system of differential equations:

[0009] x′(s)=cosθ(s)

[0010] y′(s)=sinθ(s)

[0011]

[0012] Where K is the bending stiffness of the elastic circular frame, M is the local bending moment applied by the soft actuator, s represents the natural coordinate arc length of the elastic circular frame, with the natural coordinate starting point being s0, x and y are the Cartesian coordinates of any point on the elastic circular frame, θ(s) represents the angle between the tangent at point s and the x-direction, and T... x and T y These are the internal forces in the x and y directions of the elastic circular frame, T. x It is a constant, T y =ρgs is the internal force that varies with the arc length s, ρ = m / L is the linear density of the soft robot, and m is the total mass of the soft robot. It is the total length of the elastic circular frame; the gravity G1 of the soft actuator and the gravity G2 of the soft robot constitute the equivalent gravity G of the soft robot;

[0013] The system of differential equations combines the continuity condition (θ,θ',x,y) with the boundary conditions θ(s0)=0,θ'(s0)=0,x(s0)=0. That is, the equilibrium configuration of the elastic ring frame under gravity is solved; the static configuration of the elastic ring frame without soft actuation loading is determined by the bending stiffness K and the equivalent gravity G of the soft robot.

[0014] Furthermore, the rolling soft robot system drives the soft robot to roll continuously on a flat surface in the following manner:

[0015] When the soft robot is to roll in a set direction, the air supply control system inflates the first soft actuator in front of the contact position between the elastic ring frame and the ground, applying a local bending moment M to it. This local bending moment causes the soft robot to deform as a whole, causing the overall configuration to roll in the set direction. At this time, the position sensor on the soft actuator detects the position of its corresponding soft actuator. When the second soft actuator in front of the first soft actuator rolls to the position of the first soft actuator, the position sensor on the second soft actuator feeds back the position information of the second soft actuator to the air supply control system. The air supply control system inflates the second soft actuator, causing the soft robot to continue rolling in the set direction. This process is repeated to achieve continuous rolling of the soft robot in the set direction.

[0016] If the soft robot is to continuously roll in the opposite direction of the set direction, the soft actuator behind the contact position between the elastic ring frame and the ground is loaded sequentially through the air supply control system, thereby realizing the continuous rolling of the soft robot in the opposite direction of the set direction.

[0017] To stop the soft robot from rolling, the air supply control system sequentially loads the soft actuators at the contact points between the elastic ring frame and the ground, while the other soft actuators stop loading, thus stopping the soft robot from rolling.

[0018] Furthermore, to achieve the climbing motion of the soft robot, the soft actuators in front of the contact position between the elastic ring frame and the slope are loaded sequentially through the air supply control system according to the inclination angle of the slope to be climbed, thus realizing the climbing motion of the soft robot.

[0019] Compared with existing technologies, this invention has the following advantages: It provides a pneumatically driven rolling soft robot system. This system arranges pneumatically driven soft actuators within an elastic circular frame and uses position sensors to detect the position of each soft actuator, thereby controlling the loading of each actuator and driving the soft robot to roll. This invention enables the soft robot to achieve continuous, stable, and controllable bidirectional rolling motion and climbing motion in various complex environments, exhibiting strong environmental adaptability. Furthermore, the soft robot in this invention has a simple structure, is easy to install and maintain, and can be quickly disassembled and replaced when a soft actuator is damaged. Therefore, this invention has strong practicality and broad application prospects. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the soft robot in an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the overall system structure according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the structure of the soft driver in an embodiment of the present invention.

[0023] Figure 4 This is a force analysis diagram of the elastic ring frame under gravity in an embodiment of the present invention.

[0024] Figure 5 This is a phase diagram showing the configuration changes of the elastic ring frame under different gravitational forces in an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the climbing motion of the soft robot in an embodiment of the present invention. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] like Figure 1 , 2 As shown, this embodiment provides a pneumatically driven rolling soft robot system, including a soft robot and an air supply control system. The soft robot includes an elastic annular frame 1, on which multiple soft actuators are equidistantly mounted. In this embodiment, eight soft actuators 3, 6, 9, 12, 15, 18, 21, and 24 are installed. Each soft actuator is connected to an air pipe 4, 7, 10, 13, 16, 19, 22, and 25 for loading the soft actuator. Each soft actuator is also equipped with a position sensor 2, 5, 8, 11, 14, 17, 20, and 23 for detecting the position of the soft actuator. The air supply control system is connected to each air pipe on the soft robot and supplies air to the corresponding air pipe according to a set loading time and frequency to drive the corresponding soft actuator.

[0030] The soft driver mold was designed using 3D printing and then obtained through casting. For example... Figure 3As shown, the soft actuator includes a soft actuator housing 31, a duct connection channel 32, six air chambers 34, and five air chamber connection channels 33. The six air chambers are arranged sequentially, with the first air chamber connected to the duct connection channel, and adjacent air chambers directly connected through the air chamber connection channels. The applied air pressure enters the duct connection channel through the connecting duct, and then enters the air chamber, causing the air chamber to expand under pressure. The applied air pressure then enters the next air chamber through the air chamber connection channels, causing the air chambers of the soft actuator to expand and deform sequentially, ultimately resulting in bending deformation of the soft actuator.

[0031] The air supply control system includes an air pump 26, connecting air pipes 27, an air pressure control box 28, and air pipe connectors 29. The air pump 26 is connected to the air pressure control box 28 via the connecting air pipes 27 to output high-pressure air to the air pressure control box 28. The air pressure control box 28 is used to adjust the output air pressure, control which air pipe is supplied to, and the time and frequency of air supply. The air pressure control box 28 is connected to the air pipe connectors 29 and is connected to each air pipe via the air pipe connectors 29, after which the high-pressure air acts on the soft robot 30.

[0032] like Figure 4 As shown, the elastic ring frame undergoes an elliptical deformation under gravity. A coordinate system is established, with the top of the elastic ring frame's shape set as the origin s0 (s=0) of the natural coordinate system. The elastic ring frame's shape is symmetrical about the y-axis, and its total length is... In this embodiment, the total length The elastic modulus of the elastic circular frame is E = 3.91 × 10⁻⁶. 9 Pa, thickness t=0.0381mm, width b=5mm.

[0033] Establish the following system of differential equations:

[0034] x′(s)=cosθ(s)

[0035] y′(s)=sinθ(s)

[0036]

[0037] Where K is the bending stiffness of the elastic ring frame (K = 0.0901 N / mm in this embodiment), M is the local bending moment applied by the soft actuator, s represents the natural coordinate arc length of the elastic ring frame (the natural coordinate starting point is s0), x and y are the Cartesian coordinates of any point on the elastic ring frame, θ(s) represents the angle between the tangent of the elastic ring frame at point s and the x-direction, and T x and T y These are the internal forces in the x and y directions of the elastic circular frame, T. x It is a constant (T in this embodiment) x=0.075N), T y =ρgs is the internal force that varies with the arc length s, ρ = m / L is the linear density of the soft robot, and m is the total mass of the soft robot. This is the total length of the elastic ring frame. In this embodiment, the linear density of the soft robot is ρ = 1.4506 g / mm², the total mass of the soft robot is m = 73.11 g, and the total length of the elastic ring frame is L = 50.4 mm. The gravity G1 of the soft actuator and the gravity G2 of the soft robot constitute the equivalent gravity G of the soft robot.

[0038] The system of differential equations combines the continuity condition (θ,θ',x,y) with the boundary conditions θ(s0)=0,θ'(s0)=0,x(s0)=0. The equilibrium configuration of the elastic circular frame under gravity can then be solved. The static configuration of the elastic circular frame without soft actuator loading is determined by the bending stiffness K and the equivalent gravity G of the soft robot.

[0039] Figure 5 This is a phase diagram showing the configuration changes of the elastic ring frame under different gravitational forces in this embodiment. The horizontal axis represents the ratio of the gravity G acting on the soft robot configuration as a distributed load to the bending stiffness K of the elastic ring frame, and the vertical axis represents the height H of the elastic ring frame. Figure 5 It can be seen that when G / k = 0, it is a static configuration of the elastic circular frame that is not subject to gravity, which is consistent with... Figure 1 The configuration matches. As the gravity load increases, the height H of the static configuration of the elastic ring frame 1 decreases, and the static configuration shape of the elastic ring frame 1 gradually becomes a short ellipse. Therefore, the soft robot of this invention can pass through holes with a minimum height of 9mm.

[0040] The soft robot in this system can roll continuously on flat ground. The system drives the soft robot to roll continuously on flat ground in the following way:

[0041] When the soft robot is to roll in a predetermined direction, the air supply control system inflates the first soft actuator in front of the contact point between the elastic ring frame and the ground, applying a local bending moment M to it. This local bending moment causes the soft robot to deform as a whole, causing the overall configuration to roll in the predetermined direction. At this time, the position sensor on the soft actuator detects the position of its corresponding soft actuator. When the second soft actuator in front of the first soft actuator rolls to the position of the first soft actuator, the position sensor on the second soft actuator feeds back the position information of the second soft actuator to the air supply control system. The air supply control system then inflates the second soft actuator, causing the soft robot to continue rolling in the predetermined direction. This process is repeated to achieve continuous rolling of the soft robot in the predetermined direction.

[0042] If the soft robot is to continuously roll in the opposite direction of the set direction, the soft actuator behind the contact position between the elastic ring frame and the ground is loaded sequentially by the air supply control system, thus realizing the continuous rolling of the soft robot in the opposite direction of the set direction.

[0043] To stop the soft robot from rolling, the air supply control system sequentially loads the soft actuators at the contact points between the elastic ring frame and the ground, while the other soft actuators stop loading, thus stopping the soft robot from rolling.

[0044] In this embodiment, with Figure 1 The state shown is the initial static state. Taking the soft robot rolling in the positive direction of the Ox axis as an example, the soft actuator 9 is inflated, generating a local bending moment load M. This local load will cause the soft robot to deform as a whole, causing the overall configuration to roll in the positive direction of the Ox axis. The position sensor on the soft actuator detects the position of the corresponding soft actuator. When the soft actuator 12 rolls to the position of the soft actuator 9, the position sensor 11 feeds back the position information of the soft actuator 12 to the air pressure control box 28, which controls the air pump 26 to inflate the soft actuator 12. The soft robot continues to roll. By sequentially loading the soft actuators located at the position of the soft actuator 8 in the initial static state, the rolling soft robot 30 can continuously roll in the positive direction of the Ox axis.

[0045] Similarly, if the soft actuators at position 3 in the initial stationary state are loaded sequentially, the rolling soft robot can continuously roll in the negative direction of the Ox axis. If the soft robot 30 needs to stop rolling, it is only necessary to keep loading the soft actuator at position 6 in the initial stationary state while stopping loading the other soft actuators, at which point the rolling soft robot will stop rolling.

[0046] like Figure 6 As shown, the rolling soft robot can roll in complex terrain scenarios such as steps and slopes. The rolling soft robot can achieve uphill and downhill rolling on slopes with multiple tilt angles 35 by changing the loading position of the soft actuator according to different tilt angles θ.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A pneumatically driven rolling soft robot system, characterized in that, The system includes a soft robot and an air supply control system. The soft robot includes an elastic ring frame, on which multiple soft actuators are equidistantly mounted. Each soft actuator is connected to an air tube for loading the soft actuator, and each soft actuator is equipped with a position sensor for detecting the position of the soft actuator. The air supply control system is connected to each air tube on the soft robot and supplies air to the corresponding air tube according to a set loading time and frequency to drive the corresponding soft actuator. The elastic circular frame deforms under gravity. A coordinate system is established, with the top of the elastic circular frame shape set as the origin s0 of the natural coordinate system. The elastic circular frame shape is symmetrical about the y-axis, and its total length is... Establish the following system of differential equations: Where K is the bending stiffness of the elastic circular frame, M is the local bending moment applied by the soft actuator, and s represents the natural coordinate arc length of the elastic circular frame, with the natural coordinate starting point being... x and y are the Cartesian coordinates of any point on the shape of the elastic circular frame, and θ(s) represents the angle between the tangent of the elastic circular frame at point s and the x-direction. and These are the internal forces in the x and y directions of the elastic circular frame. It is a constant. It is an internal force that varies with the arc length s. This is the linear density of the soft robot, m is the total mass of the soft robot, and L= It is the total length of the elastic circular frame; the gravity G1 of the soft actuator and the gravity G2 of the soft robot constitute the equivalent gravity G of the soft robot; The system of differential equations incorporates the continuity condition: The shape is continuous along the elastic circular frame, and the boundary conditions are as follows: That is, to solve for the equilibrium configuration of the elastic ring frame under gravity; the static configuration of the elastic ring frame without soft actuation loading is determined by the bending stiffness K and the equivalent gravity G of the soft robot.

2. The pneumatically driven rolling soft robot system according to claim 1, characterized in that, The soft actuator includes a soft actuator housing, one tracheal connection channel, n air chambers, and n-1 air chamber connection channels. The n air chambers are arranged sequentially, with the first air chamber connected to the tracheal connection channel, and adjacent air chambers directly connected through the air chamber connection channels. The applied air pressure enters the tracheal connection channel through the connecting tracheal pipe, and then enters the air chambers. The air chambers expand under pressure, and the applied air pressure enters the next air chamber through the air chamber connection channels. The air chambers of the soft actuator expand and deform sequentially, ultimately causing the soft actuator to bend.

3. The pneumatically driven rolling soft robot system according to claim 1, characterized in that, The air supply control system includes an air pump, connecting air pipes, an air pressure control box, and an air pipe connector. The air pump is connected to the air pressure control box via the connecting air pipes to output high-pressure air to the air pressure control box. The air pressure control box is used to adjust the output air pressure, control which air pipe to supply air to, and the time and frequency of air supply. The air pressure control box is connected to the air pipe connector and is connected to each air pipe via the air pipe connector.

4. The pneumatically driven rolling soft robot system according to claim 1, characterized in that, Eight soft actuators are installed at equal intervals within the elastic circular frame.

5. A pneumatically driven rolling soft robot system according to claim 1, characterized in that, The rolling soft robot system drives the soft robot to roll continuously on a flat surface in the following manner: When the soft robot is to roll in a set direction, the air supply control system inflates the first soft actuator in front of the contact position between the elastic ring frame and the ground, applying a local bending moment M to it. This local bending moment causes the soft robot to deform as a whole, causing the overall configuration to roll in the set direction. At this time, the position sensor on the soft actuator detects the position of its corresponding soft actuator. When the second soft actuator in front of the first soft actuator rolls to the position of the first soft actuator, the position sensor on the second soft actuator feeds back the position information of the second soft actuator to the air supply control system. The air supply control system inflates the second soft actuator, causing the soft robot to continue rolling in the set direction. This process is repeated to achieve continuous rolling of the soft robot in the set direction. If the soft robot is to continuously roll in the opposite direction of the set direction, the soft actuator behind the contact position between the elastic ring frame and the ground is loaded sequentially through the air supply control system, thereby realizing the continuous rolling of the soft robot in the opposite direction of the set direction. To stop the soft robot from rolling, the air supply control system sequentially loads the soft actuators at the contact points between the elastic ring frame and the ground, while the other soft actuators stop loading, thus stopping the soft robot from rolling.

6. A pneumatically driven rolling soft robot system according to claim 5, characterized in that, To achieve the climbing motion of the soft robot, the soft actuators in front of the contact position between the elastic ring frame and the slope are loaded sequentially through the air supply control system according to the inclination angle of the slope to be climbed, thus realizing the climbing motion of the soft robot.

Images