The inchworm-imitating soft robot comprises a soft body and a shape memory alloy which are connected with each other, the two ends of the soft body are connected with a front foot and a rear foot respectively, the shape memory alloy is connected with a pin used for electrification, and the axis where the shape memory alloy is located deviates from the connecting line of the center of the section of the soft body by a set distance; the cross sections of the front foot and the rear foot are semicircular, the shapes and the sizes of the front foot and the rear foot are the same, and the ratchets in the same direction are located in semicircular arc-shaped areas. The electrostriction shape memory alloy based on bias driving provides bending moment for the soft body of the robot, the friction surfaces of the front and rear feet of the robot are constant in curvature, the foot height is a constant, and the requirement for differential friction of the front and rear feet in the inchworm-imitating motion is met; and the non-linear condition of the bending moment of the body caused by the height change of the front and rear feet is avoided, and linearization and accurate prediction of inchworm motion can be realized.
本发明涉及一种常曲率足差动摩擦的仿尺蠖软体机器人,包括相连接的软躯体与形状记忆合金,软躯体两端分别连接前足和后足,形状记忆合金连接用于通电的引脚,形状记忆合金所在轴线偏移软躯体截面中心的连线设定距离;前足和后足的截面均为半圆形且二者的形状和尺寸相同,方向一致的棘齿位于半圆形的弧形区域中。基于偏置驱动的电致伸缩形状记忆合金为机器人的软躯体提供弯曲力矩,机器人前后足的摩擦表面为常曲率且足高为常数,既满足了仿尺蠖运动中前后足差动摩擦的要求,又避免了由于前后足的高度变化所引起的对躯体抗弯力矩的非线性情况,有助于实现对尺蠖运动的线性化与精确预测。
Constant-curvature foot differential friction inchworm-imitating soft robot and working method
一种常曲率足差动摩擦的仿尺蠖软体机器人及工作方法
2022-11-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Inchworm-imitating soft robot based on knitted fabric actuators
European Patent Office | 2020
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