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Variable stiffness soft robot system

A robotic system and variable stiffness technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low load-bearing capacity and insufficient material stiffness, and achieve the effects of enhancing load-bearing capacity, expanding the application range, and enhancing stiffness

Active Publication Date: 2018-09-28
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a variable stiffness soft robot system that has active deformation capability and can change its stiffness in view of the defect of low load-carrying capacity of existing soft robots due to insufficient material stiffness

Method used

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Embodiment

[0035] see figure 1 , a variable stiffness soft robot system in the illustration is the preferred solution of the present invention, specifically including a soft robot 1 capable of deformation, a vacuum pumping device 2 for vacuuming the inner cavity of the soft robot, Particle delivery device 3 for delivery of deformable medium.

[0036] Specific as figure 2 As shown, the soft robot can realize the bending action, and is mainly composed of an elastically deformable cavity wall 101, a cavity 102 and a backing 106, wherein the elastically deformable cavity wall 101 is made of silicon rubber with a relatively low modulus of elasticity, and the backing 106 It is arranged in close contact with the outer wall of the elastic deformation cavity wall 101 along the axial direction, and is made of PP with a relatively high elastic modulus, so as to reduce the axial elongation of the soft robot and provide the main restoring force for the soft robot.

[0037] The cavity 102 is surrou...

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Abstract

The invention discloses a variable stiffness soft robot system comprising a soft robot, a vacuum pumping device and a particle conveying device; the soft robot has a cavity surrounded by an elastic deformation cavity wall, and the elastic deformation cavity wall is provided with a vacuuming passage and a conveying passage; the vacuum pumping device is connected to the vacuuming passage for extracting the air inside the cavity to realize the vacuum or negative pressure inside the cavity; the particle transport device is connected to the transport channel to transport deforming medium of the soft robot into the cavity. The soft robot system of the invention retains the characteristics that the soft robot is easy to realize complex motion and has strong environmental adaptability. At the sametime, it can also enhance the rigidity of the robot in the static state, greatly enhance the carrying capacity of the robot, enhance the practicability of the soft robot, and expand the application range of the soft robot.

Description

technical field [0001] The invention belongs to soft robot technology, in particular to a variable stiffness soft robot system. Background technique [0002] In order to obtain high precision and rigidity, traditional robots are usually made of materials with large elastic modulus, and are connected by several kinematic pairs. Soft robots refer to robots made of materials with a small elastic modulus, such as rubber and resin. Compared with rigid-body robots, soft-body robots have infinite degrees of freedom and more diverse forms of motion. At the same time, due to their small elastic modulus, they can modify the shape according to the environment and have strong adaptability, especially when they are in contact with people. With inherent security, it has broad application prospects. [0003] According to different action mechanisms, soft robots can be divided into fluid-driven, shape-memory alloy-driven, dielectric elastomer-driven, and field-driven soft robots. Among th...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 韩奉林李鹏陈志严宏志
Owner CENT SOUTH UNIV
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