The invention relates to a multi-modal pneumatic micro-robot based on variable stiffness control, which comprises a robot body, a first rear leg and a second rear leg are arranged on two sides of the robot body, and a first front leg and a second front leg are arranged in the robot body; the friction coefficient of forward movement of the first front leg and the second rear leg is greater than that of reverse movement; the friction coefficient of forward movement of the second front leg and the first rear leg is smaller than that of reverse movement; the first joint and the second joint are symmetrically arranged and are respectively close to the first front foot and the second front foot; the power-on states of the first electrode and the second electrode are opposite; the first air bag is mounted at the upper end of the first joint, and realizes reverse movement through cyclic expansion and contraction of the first air bag; and the second air bag is mounted at the upper end of the second joint and circularly expands and contracts to realize forward movement. Forward and reverse movement of the robot can be achieved only by inflating or deflating the first air bag or the second air bag, air channels are reduced, and the structure is simplified.

    本发明是一种基于变刚度控制的多模态气动微型机器人,包括机身,两侧设有第一后脚和第二后脚,内部设有第一前脚和第二前脚;第一前脚和第二后脚正向移动的摩擦系数大于反向移动的摩擦系数;第二前脚和第一后脚正向移动的摩擦系数小于反向移动的摩擦系数;机身上还安装有:对称布置的第一关节和第二关节,分别靠近第一前脚和第二前脚;第一电极和第二电极,其通电状态相反;第一气囊,安装于第一关节上端,通过其循环膨胀和收缩,实现反向移动;第二气囊,安装于第二关节上端,通过其循环膨胀和收缩,实现正向移动。本发明只需要给第一气囊或第二气囊充气或排气,即可实现机器人正向反向移动,减少了气道,简化了结构。


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    Title :

    Multi-mode pneumatic micro-robot based on variable stiffness control


    Additional title:

    一种基于变刚度控制的多模态气动微型机器人


    Contributors:
    WANG QI (author)

    Publication date :

    2023-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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