Bending unit body and snake-like soft robot driven by sma

Abstract

The invention discloses a bending unit body driven by SMA and a snake-shaped soft robot, and relates to the technical field of soft robots. The bending unit body includes an internal support assembly and several SMA springs. A joint end cover, the joint end cover includes an end plate and a connecting shaft, one end of the connecting shaft is connected to the end plate, and the other end is connected to the support through a ball hinge device; a number of spring steel plates are arranged at both ends of the support, and the other end of the spring steel plate It is set in contact with the end plates; the two ends of the SMA spring are respectively connected with the two end plates. The snake-shaped soft robot consists of several curved unit bodies sequentially connected in a straight shape, and includes modular torsion unit bodies. The bending unit body and the torsion unit body are modularized, and its structure is simple and easy to manufacture. It can be assembled into snake-shaped robots and bionic elephant trunks, etc., and assembled into robots with different functions. It has great use value and promotion in production and life. significance.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a SMA-driven bending unit body and a snake-shaped soft robot. Background technique [0002] Robots refer to man-made mechanical devices that can automatically perform tasks, relying on their own power and control capabilities to achieve various functions to replace or assist human work. Traditional robots are usually made of metal and other hard materials, loaded and connected to electronic instruments and components, which 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, traditional robots usually set multiple kinematic pairs on their body, and through different motion combinations, different kinematic joints are formed, so that the robot can complete different ...

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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