Telescopic bionic elephant trunk device based on Mckibbed type pneumatic artificial muscle driving

Abstract

The invention discloses a telescopic bionic elephant trunk device based on Mckibbed type pneumatic artificial muscle driving. The telescopic bionic elephant trunk device comprises a base and a plurality of bionic units connected in sequence, and the bionic units adopt the design that the inclination is gradually reduced from top to bottom; the bionic unit at the upper end is connected with the base; and the adjacent bionic units or the bionic units and the base are connected through connecting discs. According to the telescopic bionic elephant trunk device, Mckibbed type pneumatic artificial muscle which is good in safety performance, low in price, environmentally friendly and good in flexibility is adopted, and driving force is provided for the bionic elephant trunk device. The bionic elephant trunk is good in flexibility, simple in structural design, light in weight, convenient to install, low in maintenance cost, capable of bearing large tangential loads, capable of simulating movement of an elephant trunk at any angle in a three-dimensional space in the nature, capable of contracting in the axial direction and capable of meeting different movement requirements in a complex space.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a retractable bionic elephant trunk device driven by Mckibben type pneumatic artificial muscles. Background technique [0002] In recent years, bionic robot devices have been more and more used in people's lives and industrial fields, such as medical treatment, robotics, aerospace, etc., and are more flexible and safe during work. Especially in some fields with special requirements, the requirements for devices are getting higher and higher. For example, in the process of food and drug processing and packaging, there are higher requirements for cleanliness; during the handling of fragile items, higher safety requirements are required; In the process of grasping in a narrow space, the requirements for flexibility are high. [0003] At present, the commonly used driving methods include motor drive, hydraulic drive, shape memory alloy drive and pneumatic drive. The motor dri...

AI Technical Summary

Problems solved by technology

The motor drive has the advantages of high control precision, fast execution speed, and fast response speed, but the complex structure brings inconvenience to the design, and the price is relatively high; the hydraulic drive has the advantages of remote control, large torque output, stepless speed change, use Long service life and other advantages, but there are disadvantages such as low flexibility, easy pollution of the transmission medium, and high maintenance costs; shape memory alloy drives are driven by alloys with "memory" functions, which can withstand large loads and relatively fast drive speeds, but The frequent shape change of shape memory alloy leads to its low life, and the hysteresis phenomenon also makes its control difficult

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