Soft crawling robot and control method thereof

A technology of crawling robot and robot body, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of large size and few gripping robots, etc.

Pending Publication Date: 2022-01-14
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, various software gripping robots have appeared, mainly used for rehabilitation gloves, grasping objects under free conditions, etc., but most of the soft grippers are large in size, fixed on brackets, and used in pipelines and other environments There are still fewer gripping robots under the condition

Method used

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  • Soft crawling robot and control method thereof
  • Soft crawling robot and control method thereof
  • Soft crawling robot and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] refer to Figure 1-Figure 3 As shown, a soft crawling robot of the present invention, the soft crawling grabbing robot includes: a robot body, a robot gripper, and an airway assembly, and the robot body includes sequentially connected front end radial actuators 3, central axial Executor 2, rear end radial actuator 1, the robot gripper includes a plurality of soft grippers connected with the robot body;

[0039] The soft gripper includes a finger-shaped structure air cavity 7, and the finger-shaped structure air cavity 7 is provided with a back cover 6, and the Young's modulus of the material of the back cover 6 is greater than that of the finger-shaped structure air cavity 7 material, and the plurality of grips The hand is inflated into a curved shape and grasps the object to be grasped. In this embodiment, there are two soft grippers, namely the first soft gripper 4 and the second soft gripper 5;

[0040] The front radial actuator 3 and the rear radial actuator 1 incl...

Embodiment 2

[0048] The present embodiment provides the method for making the above-mentioned soft robot, including:

[0049] Step S1: Design the structure of the soft robot according to the requirements, and give the specific dimensions of each part. The diameter of the front and rear radial actuators is 35mm, and the length is 24mm. The diameter of the central axial actuator is 35mm, and the length is 80mm. The hand length is 42mm, the size of the top air cavity is 4×2×6mm, the size of the back cover is 42×8×3mm, and the wall thickness of the above parts is 2mm;

[0050] Step S2: According to the structure and size designed in step S1, use SolidWorks 3D modeling software to draw a series of molds that match each part of the robot for printing, and take into account the accuracy of the printer, and finally draw the completed mold save in a specific format;

[0051] Step S3: Import the mold drawing completed in step S2 into the slicing software of the 3D printer, set the parameters such a...

Embodiment 3

[0058] This embodiment provides a method for making a robot gripper, including the following steps:

[0059] Step S1: Use SolidWorks software to draw the soft gripper mold for 3D printing, including the upper and lower layers of the mold for making the top of the gripper and the bottom mold of the gripper for pouring the back cover material, such as Figure 5 , 6 , 7 shown. After the drawing is completed, save it in stl format, import it into the slicing software supporting the 3D printer, set the printing quality, internal filling density, filling style, shell, printing thickness, printing speed and other parameters and start printing. After printing, wait for cooling and take out the mold , and post-processing to remove blemishes;

[0060] Step S2: Take an appropriate amount of release agent and apply it evenly on the surface of the mold to facilitate subsequent demoulding work;

[0061] Step S3: Weigh an appropriate amount of silicone rubber for pouring into the mold, wh...

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Abstract

The invention relates to a soft crawling robot and a control method thereof. The soft crawling robot comprises a robot gripper, as well as a front-end radial actuator, a central axial actuator and a rear-end radial actuator which are connected in sequence, wherein the robot gripper, the front-end radial actuator, the central axial actuator and the rear-end radial actuator all comprise air cavities; the robot gripper can be bent through inflation; the front-end radial actuator and the rear-end radial actuator can expand in the radial direction through inflation; and the central axial actuator can be axially expanded through inflation. The front-end radial actuator, the central axial actuator and the rear-end radial actuator are inflated, deflated and kept according to a preset sequence, so that a soft robot body moves back and forth in a pipeline. Through the arrangement of the inflatable rear-end radial actuator, the central axial actuator, the front-end radial actuator and the robot gripper, the function of removing specific obstacles in the pipeline or targeted delivery can be well achieved.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a soft crawling robot and a control method thereof. Background technique [0002] Unlike traditional rigid robots, soft robots are mainly made of flexible materials such as silicone rubber, which are generally considered to be materials with a lower Young's modulus than human muscles, and are highly flexible and flexible, and can be bent or stretched arbitrarily. Soft robots are suitable for various complex environments, and can safely interact with humans to avoid possible injuries from rigid robots. This makes soft robots widely used in medical, detection, wearable devices and other fields. The driving methods of soft robots mainly include pneumatic drive, magnetic field drive, dielectric elastomer (DE), ion polymer metal composite (IPMC), shape memory alloy (SMA), shape memory polymer (SMP) and so on. Various soft robots have been designed, most of which are designed to i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/20
CPCB25J15/0023B25J9/20
Inventor 李恭新邱伟刘飞
Owner JIANGNAN UNIV
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