Rigid-soft composite driver based on foldable sheet-shaped drivers

Abstract

The invention discloses a rigid-soft composite driver based on foldable sheet-shaped drivers, and provides a manufacturing method of the rigid-soft composite driver. The rigid-flexible composite driver is composed of a near-end rigid connecting piece, a middle-section rigid connecting piece, a far-end rigid connecting piece, a near-end joint driver and a far-end joint driver. The near-end rigid connecting piece, the middle-section rigid connecting piece and the far-end rigid connecting piece are made of the same material, are machined through a 3D printing process, are used for connecting thenear-end joint driver and the far-end joint driver, and play a role in supporting the whole structure at the same time; and the near-end joint driver and the far-end joint driver adopt the same material and structural form and comprise the foldable sheet-shaped drivers, rigid partition plates and strain limiting layers. The bending angles and the output force of the tail ends of the near-end jointdriver and the far-end joint driver can be changed by changing the input air pressure in the near-end joint driver and the far-end joint driver respectively, and then two-degree-of-freedom movement is achieved. The rigid connecting pieces and the joint drivers are integrated, so that multi-degree-of-freedom movement can be realized. The rigid-flexible composite driver can be applied to the fieldsof multi-degree-of-freedom dexterous hands, hand function rehabilitation robots, wearable equipment and the like.

Description

technical field [0001] The invention belongs to the technical field of soft robots. A rigid-soft composite driver based on a foldable sheet driver designed by the present invention can realize two-degree-of-freedom motion, and can be applied to fields such as multi-degree-of-freedom dexterous hands, hand function rehabilitation robots, and wearable devices. Background technique [0002] Soft robots have unparalleled flexibility and safety compared to traditional rigid robots. In recent years, soft robot technology has shown explosive development, and has been widely used in industrial sorting, bionics, medical and other fields, and is an emerging multidisciplinary research direction. [0003] Insufficient output force and lack of multi-degree-of-freedom motion ability are important factors restricting the development of current soft robots. In order to solve the above problems, most of the existing research integrates multi-cavity soft actuators based on silicone rubber an...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the problems in the above-mentioned background technology existing in the existing soft robot, and proposes a rigid-soft composite driver based on a foldable sheet driver and its manufacturing method, in order to solve the insufficient output force and multi-degree-of-freedom movement ability in the field of soft robots It provides a new way of thinking for problems such as shortage and complicated production process

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