A fully flexible bidirectional torsional actuator

Abstract

The invention discloses a full-flexibility dual-way twisting executor. A side curve is in sealed surrounded connection between the periphery of an upper bottom face and the periphery of a lower bottomplate, the twisting executor forms a sealed main air chamber, each side face of the side curve is provided with a through columnar cavity to serve as a control air chamber, each control air chamber is inclined along the diagonal, the inclined directions of the control air chambers on the adjacent side faces are opposite, the thickness of the inner side wall of each control air chamber is larger than that of the outer side wall, the four control air chambers form four seal air chambers between the upper bottom face and the lower bottom face, holes are formed in the positions, corresponding tothe four control air chambers and the main air chamber, of the upper bottom face, main silica gel pipes are inserted and connected into the main air chamber through the holes, and an outer air sourcecontrols pressure of the corresponding air chambers through the silica gel pipes. Twisting in the clockwise and anticlockwise directions can be achieved, motion is flexible, and the full-flexibility dual-way twisting executor is made of a full-flexibility material and easy to manufacture.

Description

technical field [0001] The invention belongs to the field of moving parts of soft robots, and in particular relates to a fully flexible bidirectional torsional actuator, which is used as a basic movement module of soft robots. Background technique [0002] When the hardware robot is working, it may bump into humans due to operational errors and cause harm to humans. The soft robot is made of fully flexible actuators. Due to its safety in human-computer interaction, it will not harm humans, which solves the disadvantages of traditional hardware robots. However, the existing fully flexible torsional actuators can only rotate in a fixed direction and cannot achieve bidirectional torsion, which limits their flexibility in movement. In view of the above situation, it is necessary to study a new type of fully flexible bidirectional torsional actuator to solve these problems. question. Contents of the invention [0003] In order to solve the problems in the background technolog...

AI Technical Summary

Problems solved by technology

However, the existing fully flexible torsional actuators can only rotate in a fixed direction and cannot achieve bidirectional torsion, which limits their flexibility in movement. In view of the above situation, it is necessary to study a new fully flexible bidirectional torsional actuator to solve these problems. question

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