The invention relates to a multi-deformation-mode soft body driver, in particular to a planar multi-deformation-mode pneumatic soft body driver based on a paper-cut structure, belongs to the technical field of soft body robots, and is mainly applied to the fields of soft body manipulators, soft body mechanical arms, soft body four-foot crawling robots, soft body rehabilitation robots and the like. According to the soft driver, the two air channels are formed in the main body, so that the soft driver generates multiple deformation modes such as elongation deformation, contraction deformation, bidirectional bending deformation, elongation/bending coupling deformation and contraction/bending coupling deformation under the driving of air pressure.
本发明涉及一种多变形模式软体驱动器,具体涉及一种基于剪纸结构的平面型多变形模式气动软体驱动器,属于软体机器人技术领域,主要应用于软体机械手、软体机械臂、软体四足爬行机器人、软体康复机器人等领域。本发明的软体驱动器通过在主体内设置两条气道,使得软体驱动器在气压驱动下产生伸长变形、收缩变形、双向弯曲变形、伸长/弯曲耦合变形以及收缩/弯曲耦合变形等多种变形模式。
Multi-deformation-mode software driver
一种多变形模式软体驱动器
2022-09-30
Patent
Electronic Resource
Chinese
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