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

A driver and chip technology, applied in the direction of manipulators, joints, program-controlled manipulators, etc., can solve problems such as complex production processes, insufficient output force in the field of soft robots, and lack of multi-degree-of-freedom movement capabilities, so as to achieve simple overall structure design and ease of use. Great effect of learning and output

Inactive Publication Date: 2021-03-02
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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

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Embodiment Construction

[0013] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0014] The invention relates to a rigid-soft composite driver based on a foldable sheet driver and a manufacturing method thereof. The rigid-soft composite driver mainly consists of a proximal rigid connector, a middle rigid connector, a distal rigid connector, a proximal joint driver and The distal joint driver consists of, as figure 1 shown;

[0015] The proximal rigid connector 1, the middle rigid connector 2 and the distal rigid connector 3 are 3D printed from the same material;

[0016] The proximal joint driver 4 and the distal joint driver 5 adopt the same material and structure, including a foldable sheet driver, a rigid partition and a strain limiting layer;

[0017] Taking the distal joint driver 5 as an example, the manufacturing method of the rigid-soft composite driver can be briefly described as follows: (1) Cut out the superstructure ...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00B25J17/02
CPCB25J9/00B25J9/0009B25J17/00B25J17/02
Inventor 陈殿生蒋永康
Owner BEIHANG UNIV
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