The invention discloses a dual-purpose bionic soft actuator. The problem that an existing soft robot end actuator is single in function is solved. The dual-purpose bionic soft actuator comprises a first driving module and a second driving module, wherein the first driving module comprises pneumatic elements, a first variable stiffness unit and a first rack; the two pneumatic elements are symmetrically bonded to the two sides of the first variable stiffness unit and jointly fixed to the first rack; the second driving module comprises first air cylinders, a second rack, a third rack, a second variable stiffness unit, a second air cylinder, a telescopic paper folding structure, a fourth rack and a fifth rack; the second rack is hinged with the first rack; the two first air cylinders are hinged to the first rack and the second rack on the same side respectively; the two second variable stiffness units are installed between the first air cylinders and the second rack; the two third racks are symmetrically distributed on the left side and the right side of the second rack; the fourth rack is fixed to the outer sides of the third rack through the second air cylinder; and the telescopic paper folding structure is fixed between the third rack and the fourth rack.

    本发明公开了一种两用仿生软体执行器,解决现有软体机器人末端执行器功能单一的问题。包括第一驱动模块、第二驱动模块;第一驱动模块包括气动元件、第一变刚度单元、第一机架;两个气动元件对称粘接在第一变刚度单元两侧并共同固定在第一机架上;第二驱动模块包括第一气缸、第二机架、第三机架、第二变刚度单元、第二气缸、可伸缩折纸结构、第四机架、第五机架;第二机架与第一机架铰接,两个第一气缸分别与同侧的第一机架和第二机架铰接,两个第二变刚度单元分别安装在第一气缸与第二机架之间,两个第三机架对称分布在第二机架的左右两侧,第四机架通过第二气缸固定在第三机架外侧,可伸缩折纸结构固定在第三机架和第四机架之间。


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    Title :

    Dual-purpose bionic soft actuator


    Additional title:

    一种两用仿生软体执行器


    Contributors:
    REN LILI (author) / ZHOU LIANG (author) / NIU SHICHAO (author) / XU JIAN (author) / JIAO ZHIBIN (author) / DING HANLIANG (author) / XUE HAO (author) / TONG JIN (author)

    Publication date :

    2020-05-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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