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Modular soft manipulator

A manipulator, modular technology, applied in manipulators, program-controlled manipulators, chucks, etc., can solve problems such as research difficulties, achieve large operating space, simple structure, and achieve the effect of flexibility and stiffness adjustment

Pending Publication Date: 2019-12-03
NANJING FORESTRY UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since its research has just started, there are a series of problems in materials, design, processing, sensing, control, and use that need to be further studied, so its research is also full of difficulties and challenges.

Method used

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  • Modular soft manipulator
  • Modular soft manipulator
  • Modular soft manipulator

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with accompanying drawing:

[0036] Originally a modular soft manipulator, it has at least any two of three types of execution units, that is, a twisting unit 1 , a bending unit 2 and a stretching unit 3 . Each type of execution unit is a flexible cylinder with a helical non-stretchable constrained fiber 7 wound around the periphery and a cavity inside.

[0037] see figure 1 In the torsion unit 1, the chamber 11 inside the torsion unit cylinder is helical, and one end of the torsion unit cylinder has a vent hole 12 communicating with one end of the helical chamber. When inflating the helical chamber inside the torsion unit cylinder, the tension unit cylinder can only move along the helical chamber due to the restraint fibers wound around the torsion unit cylinder to limit the radial dimension change of the torsion unit cylinder. The axial expansion and contraction make the torsion unit cylinder form ...

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Abstract

The invention discloses a modular soft manipulator which is connected with a plurality of execution units through the connecting terminals. The execution units are divided into a torsion unit, a bending unit and a stretching unit and are the flexible hollow tubular structures made of the silica gel synthetic materials, by inflating a cavity, the freedom degree of the arm of a person is simulated through the functions of the twisting unit, the bending unit and the stretching unit, so that a larger execution space of the manipulator is achieved. Each execution unit comprises a deformation part and a rigidity adjusting part, and the deformation part is mainly composed of a soft base body and the peripheral constraint fibers. The modular soft manipulator is composed of the torsion unit, the bending unit and the stretching unit, and the torsion unit, the extension unit and the bending unit are connected via the connecting terminals to simulate the degrees of freedom of the arm joints of theperson, so that a larger operation space can be achieved, the grabbing of a complex environment is achieved, and the modular soft manipulator has the extremely high operation efficiency, and it is guaranteed that the modular soft manipulator has the extremely high safety when interacting with an external operation object and an operation environment.

Description

technical field [0001] This patent belongs to the technical field of soft robots, and specifically relates to a modular soft manipulator. Background technique [0002] With the vigorous development of science and technology, robots have been widely used in various aspects such as industrial production, medical treatment, exploration, scientific experiments and emergency rescue. The working structure of traditional robots is mainly based on rigid structures, which are widely used in various fields at this stage, and the related technologies are relatively mature. However, traditional robots based on rigid structures inevitably have defects in structure, safety, sensitivity, and adaptability. With the continuous innovation of new intelligent materials and the continuous development of corresponding technologies, soft robots have become a research hotspot. Work, by changing its shape to pass through narrow gaps, holes, passages, etc. [0003] At present, most robots adopt ri...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08B25J15/12
CPCB25J9/0012B25J9/0015B25J9/08B25J15/12
Inventor 朱银龙褚凯梅华超刘英
Owner NANJING FORESTRY UNIV
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