The invention belongs to the field of soft body driving, and particularly relates to a pre-bending multi-deformation pneumatic grid type soft body driver. Comprising a strain layer, a strain limiting layer and a middle bonding layer used for bonding the strain layer and the strain limiting layer. The strain layer is provided with a plurality of V-shaped protruding layers which are arranged in parallel, a gap is reserved between every two adjacent protruding layers, the lower portions of the two obtuse-angle walls of each protruding layer are each provided with an inclined air cavity, the bottom of one set of inclined air cavities located on one side is provided with an air channel communicating the multiple inclined air cavities of the set, and the air channels are communicated with the inclined air cavities of the set. The air passages and the inclined air chambers on the two sides are symmetrically arranged relative to the long central axis of the strain layer; the strain limiting layer applies pre-stretching force along the long central axis of the soft driver, so that the whole soft driver is in an arc shape with the central angle being theta. According to the invention, the two groups of inclined air chambers are symmetrically arranged, so that the driver can respectively realize bending motion and bending and twisting motion in two directions, and the application is wide.
本发明属于软体驱动领域,具体涉及一种预弯曲多变形气动网格型软体驱动器。包括应变层、应变限制层以及用于将应变层和应变限制层粘合的中间粘合层;应变层上设有多个并列设置且形状呈“V”型的凸起层,相邻的凸起层之间留有间隙,每一个凸起层的两个呈钝角的壁上的下部均设有斜气腔室,位于一侧的一组斜气腔室的底部设有将该组的多个斜气腔室连通的气道,两侧的气道和斜气腔室关于应变层的长中轴线对称设置;应变限制层施加沿软体驱动器长中轴线的预拉伸力、使得软体驱动器整体呈圆心角为θ的弧形。本发明通过两组斜气腔室对称布置,可使得驱动器可分别实现弯曲运动和两方向的弯扭运动,且用途广泛。
Pre-bending multi-deformation pneumatic grid type soft driver
一种预弯曲多变形气动网格型软体驱动器
21.04.2023
Patent
Elektronische Ressource
Chinesisch
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