SMA driven curved unit body and S-shaped soft-bodied robot

Abstract

The invention discloses an SMA driven curved unit body and an S-shaped soft-bodied robot and relates to the technical field of soft-bodied robots. The curved unit body comprises an internal supportingassembly and a plurality of SMA springs. The internal supporting assembly comprises a supporting part, two spherical hinge devices and two joint end covers. Each joint end cover comprises an end plate and a connecting shaft, one end of the connecting shaft is connected with the end plate, and the other end of the connecting shaft is connected with the supporting part through one spherical hinge device. The two ends of the supporting part are provided with a plurality of spring steel plates. The other ends of the spring steel plates make contact with the end plates. The two ends of each SMA spring are connected with the two end plates correspondingly. The S-shaped soft-bodied robot is formed by connecting a plurality of curved unit bodies in sequence in a line-shaped mode and further comprises modular twisting unit bodies. The curved unit bodies and the twisting unit bodies are modularly arranged. The SMA driven curved unit body is simple in structure and convenient to manufacture, canbe assembled to form the S-shaped robot, bionic elephant trunks and the like and assembled into robots with different functions and has great using value and promoting significance in production andlife.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to an SMA-driven bending unit body and a snake-like soft robot. Background technique [0002] A robot refers to a man-made machine device that can perform tasks automatically, and realize various functions by its own power and control ability, so as to replace or assist human work. Traditional robots are usually made of metal and other hard materials, loaded with connected electronic instruments and components, and can be applied to various needs such as industrial manufacturing and heavy object transportation. However, in some unstructured environments and small spaces, traditional robots cannot enter them at all and cannot assist humans in their work. [0003] In addition, a traditional robot usually has multiple kinematic pairs on its body, and through different kinematic combinations, different kinematic joints are formed to enable the robot to complete different action pro...

AI Technical Summary

Problems solved by technology

These kinematic pairs mainly include rotating and moving pairs, usually driven by motors or hydraulic components, and their basic motions are simple. When it is necessary to perform complex motions, multiple basic motions need to be synthesized, which usually requires a very complex design. The transmission mechanism and control system are difficult to design, have complex structures, many parts, take up a lot of space, and have a high failure rate and cumbersome troubleshooting. Often due to external conditions, it is impossible to design a suitable the robot

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