Snakelike arm robot changing rigidity based on inner and outer core particle blocking

Abstract

The invention discloses a snakelike arm robot changing rigidity based on inner and outer core particle blocking. The snakelike arm robot comprises a pneumatic driving device, a pull rope driving device and a snakelike arm body; the snakelike arm body comprises an inner core filled with particles and an outer core wrapping the inner core; the pneumatic driving device can respectively change the vacuum degree of an inner cavity of the inner core and an inner cavity of the outer core; a wire is embedded on the outer side in the radial direction of the inner core, and the pull rope driving devicerealizes the steering of the corresponding direction of the snakelike arm by independently pulling one wire. The particle blocking technology is utilized, the particle gaps of the inner core and the outer core are respectively controlled to carry out rigidity control, the steering of the robot can be realized by controlling the wire, and the extension can be realized through independent rigidity change of the inner core and the outer core. After the target is reached, the inner core and the outer core simultaneously pump air to vacuum or negative pressure, and the robot can obtain higher rigidity. The robot has high rigidity changing response rate, less driving sources and wide rigidity changing range, and can realize flexible operation under the conditions of complex environment and narrow environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a variable stiffness snake-arm robot. Background technique [0002] With the continuous development of science and technology, robots have been widely used in various fields. Due to its advantages of good stability, high flexibility and strong environmental adaptability, snake-shaped arm robots can be used in aircraft maintenance, In the field of nuclear environment detection and narrow space, it has attracted people's attention. [0003] However, in an environment with a relatively small space, it is difficult for a large snake-shaped arm to enter smoothly. However, if the size of the serpentine arm is too small, the rigidity of the robot will be insufficient, making it difficult to ensure the working accuracy of the robot. Rigidity and compliance are relatively contradictory in the design and manufacture of snake-like robots. [0004] One method in the prior art is to increase the flex...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, one method increases the flexibility of the robot by increasing the number of rigid joints, but this will make the driver have to control a large number of motors, resulting in problems such as difficulty in robot control, poor precision, and bulky size.

This often sacrifices the rigidity of the robot to improve compliance, which leads to the low rigidity of the robot in actual work, and it is difficult to have a large load capacity.

The other is to use softer materials to make snake-arm robots, but due to the super-redundancy of the robot and the nonlinear deformation after being stressed, it brings difficulties to the control accuracy and load capacity of the robot.

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