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Pneumatic soft-bodied torsion actuator based on cavity body structure design

A technology of structural design and drive, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as application scenarios that are difficult to meet load requirements, and achieve the effects of large strain, strong environmental adaptability, and good safety.

Active Publication Date: 2021-06-04
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing software torsion drivers are difficult to achieve a large unit torsion (torsion per unit length) and a large output torque, and it is difficult to meet the application scenarios with high load requirements. Compared with the traditional motor drive, there is still a big gap

Method used

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  • Pneumatic soft-bodied torsion actuator based on cavity body structure design
  • Pneumatic soft-bodied torsion actuator based on cavity body structure design
  • Pneumatic soft-bodied torsion actuator based on cavity body structure design

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0030] Such as Figure 1 to Figure 4 As shown, according to the present invention, a pneumatic software torsion actuator based on cavity structure design includes a cavity, a top flange, a bottom end cover and a connecting rod, wherein: the top flange is provided with a Matching top mounting groove; the bottom end cover is provided with a bottom mounting groove matching the bottom profile of the cavity; the top and bottom of the cavity are respectively fitted and connected with the top flange and the bo...

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Abstract

The invention provides a pneumatic soft-bodied torsion actuator based on a cavity body structure design. The pneumatic soft-bodied torsion actuator based on the cavity body structure design comprises a cavity body, a top flange, a bottom end cover and a connecting rod, a top mounting groove matched with the top contour surface of the cavity body is formed in the top flange, a bottom mounting groove matched with the bottom contour surface of the cavity body is formed in the bottom end cover, the top and the bottom of the cavity body are in fit connection with the top flange and the bottom end cover respectively, the connecting rod penetrates through the interior of the cavity body, and the two ends of the connecting rod are connected with the bottom end cover and the top flange respectively. According to the pneumatic soft body torsion driver based on the cavity body structure design, based on the design of a geometrical shape of an air cavity, the end cover, an air pipe, the flange and other parts are combined into a whole, and therefore the performance of an existing soft-bodied torsion actuator is improved; and the pneumatic soft-bodied torsion actuator has the characteristics of large torsion angle per unit length and strong load capacity.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a pneumatic soft torsional actuator based on cavity structure design. Background technique [0002] Soft pneumatic actuators refer to actuators that are made of soft materials with a low elastic modulus, have high flexibility, and are driven by gas. Because the preparation material has good flexibility, can withstand large strain, and has strong adaptability and environmental adaptability. At the same time, it has good safety in the process of human-computer interaction, so it has a good application prospect, such as using a micro-manipulator with a software driver for surgery. [0003] Most of the existing software torsion drivers are difficult to achieve a large unit torsion (torsion per unit length) and a large output torque, and it is difficult to meet the application scenarios with high load requirements. Compared with the traditional motor drive, there is still a big gap . The...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/10
CPCB25J9/08B25J9/10
Inventor 陈飞飞缪云鹏谷国迎朱向阳
Owner SHANGHAI JIAO TONG UNIV
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