Internal support assembly based on SMA driven bending unit

Abstract

The invention discloses an internal support assembly based on an SMA driven bending unit, and relates to the technical field of soft robots. The internal support assembly comprises a support, two spherical hinge devices and two joint end covers, the two joint end covers are respectively arranged at the two ends of the support; the joint end covers comprise end plates and connecting shafts, one endof the connecting shafts are fixedly connected with the end plates, and the other ends of the connecting shafts are connected with one end of the support through spherical hinge devices; the two endsof the support are fixedly provided with a plurality of spring steel plates, the spring steel plates are uniformly distributed at the center of the connecting shafts as the center, and one end, awayfrom the support, of the spring steel plates are arranged close to the end plates. The internal support assembly can be used as a basic unit of a robot motion joint, and can complete multi-angle motion under the action of a driving mechanism; in particular, the assembly is combined with intelligent driving materials such as a dielectric elastomer (DE), a shape memory alloy (SMA) and a shape memorypolymer (SMP) to form a soft robot moving unit capable of bending at any angle; and the internal support assembly is simple in structure, few in parts, small in occupied space, low in failure rate and easy to process.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to an internal support component of a bending unit body driven by SMA. 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. Multiple kinematic pairs are usually set on the robot body, and different kinematic joints are formed through different kinematic combinations, so that the robot can complete different action processes. The kinematic joints in traditional robots mainly include mobile joints and rotating joints. The complex motion at the kinematic joints is often synthesized by the motion of multiple mobile joints and transmission joints. For some kinematic joints that require multi-angle bending, the design is difficult and the structure is complex. , many parts, large space occupation, high failure rate, and ...

AI Technical Summary

Problems solved by technology

The kinematic joints in traditional robots mainly include mobile joints and rotating joints. The complex motion at the kinematic joints is often synthesized by the motion of multiple mobile joints and transmission joints. For some kinematic joints that require multi-angle bending, the design is difficult and the structure is complex. , many parts, large space occupation, high failure rate and cumbersome troubleshooting

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