Flexible drive structure, flexible drive and drive system

Abstract

The technical field of flexible robots of the present invention relates in particular to a flexible driving structure, a flexible driver and a driving system. The flexible driving structure includes a connecting piece and at least one driving assembly. The interior of the part is provided with a cavity extending along its axial direction for the passage of fluid, the elastic constraint is surrounded by the outer wall of the flexible driving part, and the connecting parts are arranged at both ends of the elastic constraint in the axial direction, and the elastic constraint The pre-tightening part is connected with the connecting part, and the pre-tightening part is arranged along the axial extension of the flexible driving part. The flexible driving structure of the present invention can make the flexible robot realize large changes in volume, shape and rigidity, so that the flexible robot has the ability of controllable stiffness modulation, and the low stiffness makes the flexible robot have adaptability and compliance to the environment, ensuring interaction The high rigidity can be used to form a rigid operating platform, transmit force and bear load, and improve control accuracy.

Description

technical field [0001] The invention relates to the technical field of flexible robots, in particular to a flexible driving structure, a flexible driver and a driving system. Background technique [0002] Soft robots made of deformable or less rigid materials have better adaptability, consistency, and safety in interacting with the environment than traditional rigid robots. At present, flexible body robots have been used in various fields, such as sports robots, bionic robots, rehabilitation training robots, minimally invasive surgery, etc. Since the soft robot is made of flexible and compliant materials, it can deform according to the surrounding environment and is an ideal structure for interacting with the unstructured environment. However, there are still many challenges in application. [0003] The tasks faced by flexible robots are complex and unpredictable. In order to expand the scope of application of flexible robots, in practical applications, it is convenient an...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a flexible driving structure, flexible driver and driving system, which are used to solve the defect that the rigidity of the flexible robot is difficult to control and adjust in the prior art, and realize a large change in volume, shape and stiffness of the flexible robot, so that the flexible robot With the ability of controllable stiffness modulation, low stiffness makes soft robots adaptable and adaptable to the environment, ensuring the safety of interaction, while high stiffness can be used to form a stable rigid operating platform, transmit force and bear load, and improve control precision

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