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Caterpillar-imitated software robot based on SMA spring drive

A spring-driven, robotic technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of complex control, limited passing ability, lack of stability, flexibility and environmental adaptability, etc., to achieve good overall flexibility, strong The effect of flexibility and strong environmental adaptability

Active Publication Date: 2018-11-20
JIANGXI UNIV OF SCI & TECH
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Problems solved by technology

Although rigid body robots have high motion accuracy, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; limited ability to pass in narrow spaces; and complicated control

Method used

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  • Caterpillar-imitated software robot based on SMA spring drive
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  • Caterpillar-imitated software robot based on SMA spring drive

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0024] The invention relates to a caterpillar-like soft robot driven by an SMA spring, which adopts a modular design concept and consists of three drive modules (2) and four adsorption modules (1); the three drive modules (2) are arranged from left to right The sequence is respectively arranged between every two adsorption modules (1), and fixed by bonding, such as figure 1 As shown; the drive module is composed of four SMA springs one (12), two fixed plates (3) and a shell (4); the fixed plate (3) is bonded and fixed to the shell (4), and the four SMA The spring one (12) is evenly distributed in the casing (4) in para...

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Abstract

The invention discloses a caterpillar-imitated software robot based on SMA spring drive. The caterpillar-imitated software robot consists of three driving modules and four adsorption modules, whereineach driving module consists of four SMA springs, two fixed plates and a casing; the four SMA springs are uniformly distributed in the casing by adopting a parallel mode; when the closing contractionis carried out on the SMA springs, the driving modules deform accordingly and can restore to original shapes after power outage. Each adsorption module consists of a unit body and two adsorption units; the two adsorption units are symmetrically distributed on the unit body; each adsorption unit consists of an SMA spring, a plunger, a separation board and a sucker; the suckers can be adsorbed to the moving surface by driving the SMA springs and can be removed from the moving surface after the power outage; the three driving modules are separately arranged between every two adsorption modules according to the sequence of left to right; the caterpillar-imitated movement can be achieved by cooperatively controlling the driving modules and the adsorption modules.

Description

technical field [0001] The invention relates to a caterpillar-like soft robot driven by an SMA spring, in particular to a soft robot capable of imitating the motion of a caterpillar by driving an SMA spring, and belongs to the field of soft robots. Background technique [0002] After years of development, robots have been widely used in various fields, but most of the current robots are rigid-body robots composed of metal and the like. Although rigid-body robots have high motion precision, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; limited ability to pass in narrow spaces; and complicated control. However, if some structures and theories of bionics are used for reference, the above deficiencies of rigid-body robots can be avoided by using soft-body structures. [0003] At present, soft robots are still in the exploratory stage, but their application prospects are broad. For exampl...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 王文慧杨明立胡俊峰赵永祥张星星
Owner JIANGXI UNIV OF SCI & TECH
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