The invention provides a variable-rigidity soft robot with multiple motion forms and an operation method of the variable-rigidity soft robot. The robot comprises a bent arm A, a bent arm B, a bent arm C, a bent arm D and a central connecting piece. Wherein the bent arm A, the bent arm B, the bent arm C and the bent arm D are the same in structure and size. The bending arm body is made of silica gel materials, the center connecting piece is made of rigid materials, and four different faces of the A bending arm, the B bending arm, the C bending arm, the D bending arm and the center connecting piece are fixed. Three cavities of different bending arms are inflated and deflated to be bent, and multi-direction overturning of the soft robot is achieved. Rotation of the control motor and bending of the four bending arms can be switched into a four-foot crawling state. By heating and cooling the low-melting-point alloy of different bending arms, the effect of controlling the overall rigidity of the bending arms can be achieved. The device is simple in structure, high in self-adaptive capacity and high in stability, has strong bending deformation capacity of a soft body, is not limited by a traditional mechanical structure and is not prone to damage.
本发明提供了一种可变刚度多运动形态的软体机器人及其操作方法。该机器人包括A弯曲臂、B弯曲臂、C弯曲臂、D弯曲臂和中心连接件。其中A弯曲臂、B弯曲臂、C弯曲臂和D弯曲臂的结构和尺寸均相同。弯曲臂主体采用硅胶材料,而中心连接件采用刚性材料,将A弯曲臂、B弯曲臂、C弯曲臂、D弯曲臂和中心连接件的四个不同面固定。通过对不同弯曲臂的三个腔室充放气使其弯曲,实现软体机器人多方向翻转;控制电机转动和四个弯曲臂的弯曲可切换成四足爬行形态。通过对不同弯曲臂的低熔点合金进行加热冷却,可达到控制弯曲臂整体刚度效果。该发明结构简单、自适应能力强、稳定性强、具有软体强大的弯曲变形能力、不受传统机械结构的限制且不易损坏。
Rigidity-variable multi-motion-form soft robot and operation method thereof
一种可变刚度多运动形态的软体机器人及其操作方法
2023-03-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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