A three-degree-of-freedom pneumatic flexible actuator with variable stiffness and its preparation method

Abstract

A variable stiffness three-degree-of-freedom pneumatic flexible actuator and a preparation method thereof, aiming at solving the problem that the pneumatic flexible actuator in the prior art cannot fit the bionic design to realize the variable adjustment of stiffness, the bearing capacity of the actuator itself is poor, and the stiffness adjustment process Technical issues with low response rates. The present invention includes a driver body, one end of the driver body is provided with an installation groove arranged along the length direction, and a variable stiffness module is embedded in the installation groove, the variable stiffness module includes liquid metal, a protective shell and a heating element, and the liquid metal is packaged in the protective shell Inside, the driver body is provided with several air cavities, the air cavities are arranged along the length direction of the driver body, one end of the air tube inserted on the driver body is connected with the air chamber, and the other end of the air tube extends to the outside of the driver body.

Description

technical field [0001] The invention relates to the technical field of flexible robots or bionic robots, in particular to a variable stiffness three-degree-of-freedom pneumatic flexible driver and a preparation method thereof. Background technique [0002] With the continuous progress and development of human production and life, robot technology and automatic control technology, robots have been widely used in all aspects of human society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide human Great convenience. From the perspective of the type of robot drive, the early mechanical arm was driven by hydraulic pressure. The hydraulic drive is characterized by relatively simple control and a high power-to-weight ratio, but there are problems such as oil leakage, high cost, and poor safety. Pressure oil supply system; the emergence of motors provides a new driving method for robots and gradually replaces hyd...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the technical problems in the prior art that the pneumatic flexible driver cannot fit the bionic design to realize the variable adjustment of the stiffness, the bearing capacity of the driver itself is poor, and the response rate of the stiffness adjustment process is low, the present invention provides a variable stiffness A three-degree-of-freedom pneumatic flexible driver and a preparation method thereof, the driver can realize its own stiffness change according to environmental conditions, the stiffness change can realize rapid response, and has three-degree-of-freedom motion capability, and meets the needs of bionic design when applied to a flexible robot

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