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Snake-like winding soft actuator

A technology of actuators and software, applied in the direction of manufacturing tools, manipulators, etc., to achieve the effect of simple structure, strong grasping ability, and low cost

Active Publication Date: 2022-03-15
SOUTHWEAT UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a snake-like winding soft body actuator for the problem that the soft robot is still in the research stage and needs to be further expanded.

Method used

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  • Snake-like winding soft actuator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] The snake-like winding soft actuator of this embodiment includes an elastic bellows, an elastic stretch layer, a fixed connector, an air pipe for connecting with an air source, and a strain limiting layer. Among them, one end of the elastic bellows is closed, and the other end of the elastic bellows is connected to the air pipe; in this structure, the air source can inflate and deflate the elastic bellows through the air pipe, thereby realizing the work of winding the actuator.

[0045] In this embodiment, the elastic corrugated tube is an elastic corrugated hose with a folding unit, and the fixed connector is an elastic O-shaped plastic ring, and there are several elastic O-rings. The strain limiting layer is arranged on the side wall of the elastic bellows; based on the different bending modes of the winding actuator, the strain limiting layer and the elastic expansion layer can be arranged symmetrically or alternately with respect to the central axis of the elastic be...

Embodiment 2

[0058]Different from Embodiment 1, the corresponding strain-limiting layer is removed in this embodiment, and a winding actuator without a strain-limiting layer is provided. The winding actuator in this embodiment includes an elastic bellows, an elastic stretch layer, a fixed connector, and an air pipe for connecting with an air source. Among them, one end of the elastic bellows is closed, and the other end of the elastic bellows is connected to the air pipe; in this structure, the air source can inflate and deflate the elastic bellows through the air pipe, thereby realizing the work of winding the actuator.

[0059] In this embodiment, the elastic corrugated pipe is a corrugated hose, and the fixed connector is an elastic O-shaped plastic ring, and there are several elastic O-rings. The elastic stretchable layer is connected with the elastic bellows through the elastic O-ring, that is, the elastic stretchable layer is bound on the elastic bellows through the elastic O-ring. ...

Embodiment 3

[0062] Further, this embodiment discloses the practical application of the snake-like winding soft actuator. More specifically, this example presents a series of new species of soft robots including a dual-purpose device for wrapping and wrapping and a three-finger gripper.

[0063] Based on the implementation of snake-like winding software, a powerful soft hook is made, such as Figure 8 A. Figure 8 Shown in B. Such a soft hook is relatively easy to manufacture, and it only needs to set the strain-limiting layer and the elastic expansion layer symmetrically along the elastic bellows. The excellent airtightness of the soft hook makes it capable of salvaging floating or sinking objects in water (such as Figure 8 C. Figure 8 D). At the same time, it hooks objects of various shapes ( Figure 8 E to Figure 8 G,). In the ultimate load-bearing experiment, the weight of the soft hook is only 8g, and it can lift 4.25kg of books, which is more than 530 times its own weight ...

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Abstract

This application provides a snake-like winding soft actuator, which aims to solve the problem that the soft robot is still in the research stage and needs to be further expanded. It includes an elastic bellows, a strain-limiting layer, an elastic expansion layer, a fixed connector, and an air pipe for connecting with an air source. The present application provides a novel serpentine winding actuator, which includes two types: a winding actuator with a strain-limiting layer and a winding actuator without a strain-limiting layer. The serpentine winding actuator with strain-limiting layer relies on the strain-limiting layer and the elastic stretch layer to determine the winding performance, and can quickly and efficiently wind the slender rod tightly. As the inflation pressure increases, the serpentine winding actuator will wind tighter and can lift 1.3kg objects. The winding actuator without the strain-limiting layer is lighter and softer, and only depends on the fixed direction of the elastic stretching layer to determine the winding method of the actuator, which can also wind and lift objects.

Description

technical field [0001] The invention relates to the field of robots, in particular to the field of soft robots, in particular to a snake-like winding soft body actuator. Background technique [0002] Soft actuators are one of the research hotspots of soft robots in recent years, which has aroused great interest of relevant scholars, and a series of soft actuators with excellent performance and various forms have been developed. [0003] Increasing the Dimensionality of Soft Microstructures through InjectionInduced SelfFolding (Tommaso Ranzani; Sheila Russo; Nicholas W. Bartlett; Michael Wehner; Robert J. Wood, Advanced Materials) discloses a multifunctional millimeter-scale spider robot inspired by the small Australian peacock spider . As a self-contained soft robot, the spider robot has no hard electronic components inside, no batteries or computer chips, and it does not need to be connected to a computer to move autonomously. In this spider robot, there are no rigid part...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 廖冰臧红彬朱娜娜杨正周颖玥郎鑫代瑶屈涛王韵杰张宇航
Owner SOUTHWEAT UNIV OF SCI & TECH
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