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Novel modular soft robot and motion control method thereof

A robotic and modular technology, applied in the field of robotics, can solve the problems of fast response speed of soft robots, complex control of soft robots, and difficult realization of modularization, and achieve the effect of reducing control complexity, simple assembly, and flexible environmental adaptability.

Active Publication Date: 2021-04-30
GUANGZHOU UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Nowadays, there are some soft robots controlled by memory alloy, pull rope, and pneumatic control. They have their own advantages and disadvantages. One degree of freedom needs to be controlled by a motor, which makes it difficult to achieve modularization; the pneumatically driven soft robot has fast response speed and great strength, and can use the same air source to connect with the control valve, as long as the control valve can realize multiple degree of freedom control, but there is less research in this area
Moreover, the non-linear characteristics of soft robots make it particularly complicated to control, and more degrees of freedom need to be added when performing complex operations

Method used

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  • Novel modular soft robot and motion control method thereof
  • Novel modular soft robot and motion control method thereof
  • Novel modular soft robot and motion control method thereof

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Embodiment Construction

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] see Figure 1-7 , A new type of modular soft robot, including: control board and N modular soft robot units, N ≥ 1, each modular soft robot unit includes a flange, a stepper motor, a first A fixed part, a software part and a second fixed part, the flange is connected with the rotating shaft of the stepping motor; the control board outputs control commands to the stepping motor, and the stepping motor rotates according to the control commands to realize the rotation of the robot; the interior of the software part Two rows of fan-shaped cavities are arranged, the same row of fan-shaped cavities are connected by cylindrical cavities, and a cylinder is arranged in the middle of the fan-shaped cavities. When the control board controls one row of cavities to inflate, the cavity expands, and the soft part bends in a direction symmetrical to the inflatabl...

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Abstract

The invention discloses a novel modular soft robot and a motion control method thereof.The robot comprises a control panel and N modular soft robot units, and each modular soft robot unit comprises a flange plate, a stepping motor, a first fixing part, a soft part and a second fixing part which are sequentially connected from top to bottom; the flange plate is connected with a rotating shaft of the stepping motor; the control panel outputs a control instruction to the stepping motor, and the stepping motor rotates according to the control instruction to achieve rotation of the robot; and two rows of fan-shaped cavities are formed in the soft body part, when the control panel controls one row of cavities to be inflated, the cavities expand, the soft body part is bent in the direction symmetrical to the inflation cavity, and bending of the robot is achieved. According to the novel modular soft robot, the stepping motor is matched with a pneumatically driven soft part, the stepping motor can achieve accurate rotation control, only one electric signal needs to be controlled, and the control complexity is greatly reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a novel modular soft robot and a method for controlling its movement. Background technique [0002] At present, the development of soft robots is rapid, especially in human-computer interaction and other complex environments, soft robots highlight their strong safety, environmental adaptability and flexibility. Nowadays, there are some soft robots controlled by memory alloy, rope control, and pneumatic control. One degree of freedom requires one motor control, which makes modularization difficult to achieve; pneumatically driven soft robots have fast response speed and great strength, and can use the same air source to connect to the control valve, so long as the control valve is controlled, multiple control of degrees of freedom, but less research has been done in this area. And the nonlinear characteristics of the soft robot make it particularly complicated to control, and mor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/08B25J9/14B25J9/12
CPCB25J9/0015B25J9/08B25J9/142B25J9/126
Inventor 黄文恺卢普伟肖俊龙胡威何梓健许志鹏林国坚徐泽峰
Owner GUANGZHOU UNIVERSITY
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