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Soft robot based on shape memory alloy driving

A technology of shape memory and memory alloy, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of poor environmental adaptability, high risk of artificial rescue, and many obstacles, so as to increase flexibility and flexibility, enhance environmental adaptability, The effect of reducing complexity

Active Publication Date: 2016-12-14
SHANGHAI JIAO TONG UNIV
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AI Technical Summary

Problems solved by technology

Although traditional rigid-body robots have good maneuverability and high working precision, they also have many shortcomings: poor environmental adaptability, low flexibility in narrow spaces, complex structures, etc.
At this time, it is inconvenient to carry out the rescue work, and the risk of manual rescue is relatively high and there are many obstacles
At the same time, limited by the space structure, it is difficult for traditional hardware robots to achieve efficient and ideal rescue results

Method used

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  • Soft robot based on shape memory alloy driving
  • Soft robot based on shape memory alloy driving
  • Soft robot based on shape memory alloy driving

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Embodiment Construction

[0050] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] The invention proposes a soft robot driven by shape memory alloy, which has the characteristics of simple structure, multi-pose movement, good environmental adaptability and the like. By controlling the single-chip microcomputer to energize the shape-memory alloy wires embedded in the robot in turn, the torso of the robot contains six shape-memory alloy wires, and the overlapping structure of the alloy wires is used to drive the robot forward and backward; each of the four feet has a Two shape-me...

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Abstract

The invention provides a soft robot based on shape memory alloy driving. The soft robot has the characteristics of being simple in structure, capable of moving in multiple poses, good in environmental adaptation and the like. A single chip microcomputer is controlled to sequentially power on shape memory alloy wires embedded in the robot, the six shape memory alloy wires are arranged in a robot body, and an alloy wire overlapping structure is used for driving the robot to move forwards and backwards. The robot is provided with four feet, each foot comprises two shape memory alloy wires, the forward moving direction of the robot is changed by means of flexibility of the alloy wires, and multi-pose movement is achieved. A top heat dissipation structure can increase the movement speed of the root. A bottom tooth-shaped structure is beneficial to jacking up a silica gel outer shell in the mode that the alloy wires are powered on to retract. Supporting structures on the front side and the rear side serve as contact points of a supporting surface in movement, and friction force with the surface can be reduced in movement.

Description

technical field [0001] The invention relates to the field of special flexible robots, in particular to soft robots driven by shape memory alloys. The invention particularly relates to a soft robot which is driven by shape memory alloy (SMA) and applied to tasks such as emergency rescue and disaster relief, complex terrain exploration and the like. Background technique [0002] With the continuous development of the robot industry, the application requirements for robots in various fields are getting higher and higher. Although traditional rigid-body robots have good maneuverability and high working precision, they also have many shortcomings: poor environmental adaptability, low flexibility in narrow spaces, complex structures, and so on. Therefore, soft robots are an indispensable and important link in the development of robots, and will also be an important research field in the future robotics industry. [0003] There are currently three main driving methods for soft ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王贺升任智健董尚沈家麒陈卫东
Owner SHANGHAI JIAO TONG UNIV
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