Soft-bodied rigidity variable drive device

Abstract

The invention relates to a soft-bodied rigidity variable drive device. The soft-bodied rigidity variable drive device comprises a main body part, a tail end part and a rigidity variable structure. Themain body part comprises a first compressing face and a first bending face, the whole first compressing face is in a fold line shape, and the first bending face is straight in a natural state. A cavity structure is formed in the main body part, and the main body part can be driven by negative pressure to shrink so as to be integrally bent towards the first compressing face. The rigidity variablestructure comprises a plurality of hardboards obliquely fixed to the inner wall of the first bending face, and relative to the inner wall of the first bending face, the hardboards only have one degreeof freedom. The tail end part comprises a second compressing face, a second bending face and a connector. The tail end part is connected with one end of the main body part through the connector, thewhole tail end part is of a finger structure, and a cavity structure is formed in the tail end part. The soft-bodied rigidity variable drive device is relatively small in weight and relatively high inconveying speed and reaction sensitivity, the service life of the soft-bodied rigidity variable drive device is far longer than that of other transmission manners, and the rigidity variability of a soft-bodied drive device is creatively achieved through the negative pressure characteristic.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a software variable stiffness driving device. Background technique [0002] With the development of science and technology, robots have been widely used in many fields such as military affairs, industry, and scientific exploration. Traditional robots are generally composed of rigid modules connected by kinematic pairs, and each kinematic pair provides one (or more) planar degrees of freedom or rotational degrees of freedom. The motion combination of all kinematic pairs forms the working space of the robot end effector, which has high motion accuracy, but the rigidity of the structure makes the robot's environmental adaptability poor, and the motion in narrow spaces and other special spaces is restricted, which restricts the rigidity Applications of robots in certain fields. With the introduction of the concept of soft robots, the restrictions on the movement of robo...

AI Technical Summary

Problems solved by technology

At present, there have been some good achievements in the field of flexible variable stiffness driving devices at home and abroad, but there are still some problems: the mechanism of the device is complicated, the stiffness adjustment range is too small or the stiffness cannot be adjusted

This technology has good environmental adaptability and a certain range of stiffness adjustment, but its complex structure is not convenient for practical operation

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