The invention discloses an inchworm-imitating soft robot based on knitted fabric actuators. The robot comprises a main body composite actuator, anchors and a control system, the main body composite actuator is composed of a first main body actuator, a second main body actuator and a third main body actuator, each anchor comprises a front anchor and a rear anchor, each anchor is formed by arranginga first anchor actuator, a second anchor actuator and a third anchor actuator side by side, the main body actuators and the anchor actuators are knitted fabrics with weft plain stitch structures andare formed by knitting a continuous wrap yarn, and the wrap yarn takes a nickel-titanium shape memory alloy wire as a core wire and aramid multifilament as a wrapping fiber. The inchworm-imitating soft robot not only has light and soft appearance and physique, can well cope with external impact and penetrate through rugged terrains and narrow spaces, but also has good man-machine interactivity andlarge deformability.
本发明公开了一种基于针织物致动器的仿尺蠖软体机器人,其特征在于,包括主体复合致动器、锚定器和控制系统,主体复合致动器由第一主体致动器、第二主体致动器、第三主体致动器构成,锚定器包括前锚定器和后锚定器,锚定器由第一锚定致动器、第二锚定致动器、第三锚定致动器并排排列构成,主体致动器和锚定致动器均为具有纬平针组织的针织物并由一根连续的包覆纱针织而成,包覆纱以镍钛形状记忆合金丝为芯丝、以芳纶复丝为包缠纤维。本发明的仿尺蠖软体机器人不仅具有轻质和柔软的外表与体质,能够很好地应对外部冲击、穿越崎岖的地形和狭小的空间,同时具有良好的人机交互性与大变形能力。
Inchworm-imitating soft robot based on knitted fabric actuators
一种基于针织物致动器的仿尺蠖软体机器人
2020-09-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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