The invention provides a soft driver, which comprises a flexible pipe body, a flexible body and a flexible body, the multiple flexible limiting sleeves are continuously arranged on the flexible pipe body in a sleeving mode in the length direction, arc-shaped sliding grooves are formed in the outer walls of the flexible limiting sleeves, and the sliding grooves are formed in the circumferential directions of the flexible limiting sleeves; the bottom of each sliding block is embedded into one sliding groove and can slide along the sliding groove, the sliding blocks are sequentially connected through connecting ropes, all the sliding blocks can be arranged into different lines by rotating the flexible limiting sleeve or sliding the sliding blocks, and therefore all the sliding blocks form different strain limiting layers on the surface of the flexible pipe body. The soft robot has the beneficial effects that the position of the sliding block can be adjusted, different strain limiting layers are formed for the flexible pipe body, the bending curvature, the bending direction, the torsion curvature and the torsion direction are adjusted in real time, the soft robot has multiple motion forms, and the motion forms of the soft robot are adjusted on line according to different application requirements.
本发明提供一种软体驱动器,包括:柔性管体,其内部具有气腔;多个柔性限位套,沿着长度方向连续的套设于柔性管体上,柔性限位套的外壁设有弧形滑槽,滑槽沿着柔性限位套周向设置;以及多个滑块,每一滑块底部嵌入一滑槽内且可沿着滑槽滑动,各滑块之间通过连接绳依次连接,转动柔性限位套或滑动滑块可使所有滑块排列成不同的线条,从而使所有滑块在柔性管体表面形成不同的应变限制层。本发明的有益效果:可对滑块的位置进行调整,对柔性管体形成不同的应变限制层,来实现弯曲曲率、弯曲方向、扭转曲率、扭转方向的实时调整,使软体机器人具有多种运动形态,根据应用需求的不同,在线调整软体机器人的运动形态。
Soft driver
一种软体驱动器
2023-08-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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