Pneumatic two-way bending soft body driver based on paper folding structures

Abstract

The invention discloses a pneumatic two-way bending soft body driver based on paper folding structures. The pneumatic two-way bending soft body driver comprises a limiting layer structure and two deformation layer structures of the same structure. The two deformation layer structures are symmetrically arranged on the two sides of the limiting layer structure. The first deformation layer structureand the limiting layer structure form a first driving unit. The first driving unit implements upward bending. The second deformation layer structure and the limiting layer structure form a second driving unit. The second driving unit implements upward bending. The two driving units can achieve two-way bending. Each deformation layer structure is composed of a plurality of linearly arranged paper folding structures of the same structure. The paper folding structures can implement axial stretching and contracting under two different states through folding, unfolding and superelasticity of the material, so that the deformation layer structures implement axial stretching and contracting under two different states. The stiffness of the deformation layer structures changes through axial stretching and contracting of the deformation layer structures under the two different states, and then the driver can implement variable stiffness driving through stiffness change of the deformation layer structures under the different states.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a soft driver, which is mainly used in high-end scientific and technological fields such as manipulators, soft robots, bionic machines, and medical rehabilitation. Background technique [0002] With the development of modern science and technology, flexible drives are widely used in bionic robots, mechanical grasping, medical rehabilitation and other fields. Traditional rigid drives often use methods such as buffer devices, parallel mechanisms, and underactuated mechanisms to achieve flexible drive. The structure and control methods of the drive are relatively complex, and the general performance is poor and the cost is high. There are still many problems in practical applications. [0003] The soft driver is made of soft materials such as shape memory alloy, elastomer, hydrogel, etc., and is driven by electricity, liquid, gas, temperature, etc. It has excellent adaptability and tolera...

AI Technical Summary

Problems solved by technology

The multi-cavity type has large bending deformation but small end force, and the complex structure of the cavity may easily lead to defects such as uneven wall thickness and pores, which will affect the motion performance of the driver

The fiber-reinforced end force is greater but the bending deformation is small and the manufacturing process is complicated

In practice, the end force and bending degree severely limit the application range of pneumatic software actuators

Images