The invention relates to the technical field of soft drivers and crawling robots, and discloses a soft driver based on giant electrorheological fluid, the soft driver comprises a plurality of driving units, each driving unit comprises a fluid grid and two grid variable stiffness blocks, the fluid grid is internally provided with a fluid cavity used for containing driving fluid, and the grid variable stiffness blocks are arranged in the fluid cavity. The two grid variable-stiffness blocks are arranged at the two ends of the fluid grid correspondingly, the side wall of the fluid grid can limit circumferential deformation of the fluid grid, and the grid variable-stiffness blocks can change the stiffness through the giant electrorheological fluid so that the driving fluid in the fluid cavity can drive the driving units to deform in the axial direction; the same sides of the multiple driving units are sequentially connected, side face driving units arranged along the multiple driving units are arranged on the same sides of the multiple driving units, and the side face driving units can drive the multiple driving units to deform laterally. The invention further provides the crawling robot. The application can improve the use effect of the soft driver.
本申请涉及软体驱动器及爬行机器人技术领域,公开了一种基于巨电流变液的软体驱动器,包括多个驱动单元,每个驱动单元包括一个流体网格和两个网格变刚度块,流体网格内设有用于容纳驱动流体的流体腔,两个网格变刚度块分别设于流体网格的两端,流体网格的侧壁能够限制流体网格的周向变形,网格变刚度块能够通过巨电流变液改变刚度,以使得流体腔中的驱动流体带动驱动单元轴向变形;多个驱动单元的同一侧依次连接,多个驱动单元的同一侧设有沿着多个驱动单元设置的侧面驱动单元,侧面驱动单元能够驱动多个驱动单元侧向变形。本申请还提供了一种爬行机器人。本申请能够提高软体驱动器的使用效果。
Soft driver based on giant electrorheological fluid and crawling robot
基于巨电流变液的软体驱动器和爬行机器人
2023-04-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Four-footed crawling soft robot based on IEAP flexible driver
Europäisches Patentamt | 2023
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