Gas particle hybrid driving variable stiffness software robot and operation method thereof

Abstract

The invention discloses a gas particle hybrid driving variable stiffness software robot, which comprises an elastic deformation body, a vacuum air charging device and a particle delivery device, wherein the elastic deformation body is provided with an inner cavity; the vacuum air charging device is connected with the elastic deformation body and used for charging gas in the inner cavity, and simultaneously the vacuum air charging device is used for extracting the gas in the inner cavity, so that the inner cavity forms vacuum or negative pressure; and the particle delivery device is connected with the elastic deformation body and used for delivering particles to the inner cavity. With the characteristics of high flexibility and large carrying capacity, the gas particle hybrid driving variable stiffness software robot and the operation method provided by the invention can effectively solve the grasping and handling requirements of irregular shapes, soft and vulnerable objects.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a soft robot with variable stiffness driven by gas particle mixing and an operating method thereof. Background technique [0002] In recent years, with the development of new materials and rapid processing and manufacturing technology, soft robot technology has become a research hotspot in the field of robotics. Compared with traditional rigid-body robots, soft robots made of materials with low elastic modulus such as elastic polymers, gels, fluids, and granular materials have the characteristics of strong environmental adaptability and intrinsic safety, and are considered to expand the boundaries of robot capabilities. important enabling technology. The soft gripper is one of the soft robots closest to engineering applications at present. Cooperating with rigid industrial robots, it can complete the grasping and handling of irregular, soft and fragile objects. An ideal soft gri...

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Problems solved by technology

The granular matter is filled with the inner cavity of the elastic deformation chamber wall. When the elastic deformation chamber wall grasps an object, the granular matter flows in the elastic deformation chamber wall to adapt to the shape of the grasped object, and the rear vacuum pumping device makes the elastic deformation chamber wall evacuate or Negative pressure reduces the volume fraction of particulate matter, and the particles enter a clogged state, which effectively enhances the rigidity of the elastic deformation cavity wall and improves the carrying capacity of the soft robot. However, with the increase of particulate matter in the elastic deformation cavity wall, the elastic deformation cavity wall The restraint reaction force of the particles gradually increases, resulting in a decrease in the fluidity of the particle material, which greatly reduces the deformation compliance of the elastic deformation cavity wall to the outside, and the elastic deformation cavity wall cannot effectively fit the shape of the object, which affects the grasping of the object, and at the same time makes the soft body The shape of the object that the robot can grasp is limited, and the scope of application is limited

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