Internal support assembly of curved unit body based on sma

Abstract

The invention discloses an internal support assembly based on an SMA-driven bending unit body, relates to the technical field of soft robots, and includes a support, two spherical hinge devices and two joint end covers, and the two joint end covers are respectively arranged on two sides of the support. end; the joint end cover includes an end plate and a connecting shaft, one end of the connecting shaft is fixedly connected to the end plate, and the other end of the connecting shaft is connected to one end of the support through a ball hinge device; both ends of the support are fixedly equipped with a number of spring steel plates , a number of spring steel plates are evenly distributed around the axis of the connecting shaft, and the end of the spring steel plates away from the support is set close to the end plate. It can be used as the basic unit of robot motion joints to complete multi-angle motions under the action of the drive mechanism, especially with intelligent drives such as dielectric elastomers (DE), shape memory alloys (SMA), and shape memory polymers (SMP). The combination of materials can form a soft robot motion unit that can be bent at any angle. It has a simple structure, few parts, small space occupation, low failure rate and easy handling.

Description

Technical field [0001] The present invention relates to the field of soft robotics, specifically the internal support assembly of a curved element based on an SMA drive. Background [0002] Robots refer to artificial machine devices that can perform tasks automatically, relying on their own power and control capabilities to achieve various functions to replace or assist human work. On the robot body, multiple motion pairs are usually set up, and different movement joints are formed through different combinations of movements, so that the robot can complete different action processes. The motion pair in the traditional robot mainly includes the mobile pair and the rotation pair, and the complex movement at the motion joint is often synthesized by the movement of multiple mobile pairs and transmission pairs, for some motion joints that need to be bent at multiple angles, its design is difficult, the structure is complex, the parts are many, the space is large, and the failure rate ...

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

Images