The invention relates to a pneumatic rigidity-adjustable active adhesion/desorption toe and sole and a pneumatic rigidity-adjustable active adhesion/desorption method, and belongs to the field of bionic robots. The toe sequentially comprises an upper-layer limiting piece (1), a supporting air bag (2), a middle-layer limiting piece (3) and a desorption air bag (4) from top to bottom, wherein a plurality of transverse grooves are formed in the lower surface of the desorption air bag, are perpendicular to the direction of toes and transversely penetrate through the left side and the right side of the desorption air bag, so that the lower part of the desorption air bag is divided into a plurality of air bag wrinkle protruding units (6), and a dry adhesion material layer (7) is arranged on the surface unit of each air bag wrinkle protruding unit. Wherein the rigidity of the upper-layer limiting piece (1) is smaller than that of the middle-layer limiting piece (3). According to the invention, the gecko is used as a bionic object to realize active adhesion and desorption motion functions, the self-adaptive requirement of the complex terrain surface is met, and the method can be applied to the structural design of a micro-miniature adhesion foot type robot.
本发明涉及一种气动可调控刚度的主动黏/脱附脚趾及脚掌及方法,属于仿生机器人领域。该脚趾自上而下依次包括贴合相连的上层限制片(1)、支撑气囊(2)、中层限制片(3)、脱附气囊(4);其中脱附气囊下表面设置若干横向沟槽,它与脚趾方向垂直,且横向贯穿脱附气囊左右两侧,使得脱附气囊的下部分被划分成若干气囊褶皱突起单元(6),每个气囊褶皱突起单元的表面单元布置一块干黏附材料层(7)。其中上层限制片(1)的刚度小于中层限制片(3)的刚度。本发明以壁虎为仿生对象实现主动黏附和脱附运动功能、满足复杂地形表面自适应要求,可应用于微小型粘附足式机器人结构设计中。
Pneumatic rigidity-adjustable active adhesion/desorption toe and sole and method
一种气动可调控刚度的主动黏/脱附脚趾及脚掌及方法
2024-04-05
Patent
Electronic Resource
Chinese
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