The invention relates to the technical field of soft robots, in particular to a soft robot based on a bionic seta structure and a preparation method of the soft robot. The soft robot is composed of three modules, namely a middle connecting module and two bionic bristle modules (called a front foot and a rear foot) located at the front end and the rear end. According to the soft robot, the principle that bristles have a certain inclination angle is utilized, the direction of the acting force of the contact face is changed through force transmission, then movement regulation and control are achieved, and therefore the whole one-way forward displacement movement can be achieved under the condition that external force exists. The invention provides the method for preparing the bionic seta by directly inserting the simple commodity fiber into the resin fixing layer, the preparation method has the advantages of simplicity, repeatability, low preparation cost and the like, and the bionic seta can be prepared by changing the type of the polymer film of the middle connection module. The crawling speed of the robot is adjusted by simulating the factors of the type, inclination angle, length and diameter of fibers in the seta modules and the type and thickness of the resin fixing layers.

    本发明涉及软体机器人技术领域,具体地说是一种基于仿生刚毛结构的软体机器人及其制备方法。所述软体机器人由三个模块组成,分别为中间连接模块和两个位于前端和后端的仿生刚毛模块(称为前足和后足)。所述软体机器人利用刚毛具有一定倾斜角度的原理,通过力的传递改变接触面作用力的方向进而实现对运动的调控,因此其可以在有外力的条件下实现整体的单向前进位移运动。本发明提供了一种利用简单商品纤维直接插入树脂固定层制备仿生刚毛的方法,此制备方法具有简单、可重复、制备成本低等优势,通过改变中间连接模块聚合物薄膜的种类,仿生刚毛模块中纤维的种类、倾斜角度、长度、直径及树脂固定层的种类、厚度因素,实现机器人爬行速度的调节。


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    Titel :

    Soft robot with bionic bristles and preparation method of soft robot


    Weitere Titelangaben:

    一种带有仿生刚毛的软体机器人及其制备方法


    Beteiligte:
    HE YONG (Autor:in) / ZOU JING (Autor:in) / LOU PENGFEI (Autor:in) / YAO MIAO (Autor:in) / NIE JUN (Autor:in)

    Erscheinungsdatum :

    2023-10-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B29C Formen oder Verbinden von Kunststoffen , SHAPING OR JOINING OF PLASTICS / B29D PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE , Herstellen besonderer Gegenstände aus Kunststoff oder aus Stoffen in plastischem Zustand / B62D MOTOR VEHICLES , Motorfahrzeuge



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