CN103786168B - Pneumatic rotary type triple helix extending flexible joint - Google Patents

Pneumatic rotary type triple helix extending flexible joint Download PDF

Info

Publication number
CN103786168B
CN103786168B CN201410029791.0A CN201410029791A CN103786168B CN 103786168 B CN103786168 B CN 103786168B CN 201410029791 A CN201410029791 A CN 201410029791A CN 103786168 B CN103786168 B CN 103786168B
Authority
CN
China
Prior art keywords
helical
cavity
joint
head
flexible
Prior art date
Application number
CN201410029791.0A
Other languages
Chinese (zh)
Other versions
CN103786168A (en
Inventor
耿德旭
张金涛
赵云伟
彭贺
Original Assignee
北华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北华大学 filed Critical 北华大学
Priority to CN201410029791.0A priority Critical patent/CN103786168B/en
Publication of CN103786168A publication Critical patent/CN103786168A/en
Application granted granted Critical
Publication of CN103786168B publication Critical patent/CN103786168B/en

Links

Abstract

本发明公开了一种气动旋伸型三螺旋柔性关节,包括约束元件、关节骨架、气囊、圆柱螺旋弹簧、上端盖、下端盖、上封头、下封头、流体入口,在上端盖和下端盖之间设有若干个约束元件,若干个约束元件同轴串联密排形成柱状结构,在柱状结构内部形成中径不同的两组同轴的螺旋管状空腔,分别称为螺旋管状空腔一和螺旋管状空腔二,在螺旋管状空腔一中设置圆柱螺旋弹簧,在螺旋管状空腔二中设置气囊。 The present invention discloses a pneumatic rotary type triple helix extending flexible joint, comprising constraining element, skeletal joints, bladder, helical springs, upper cover, lower cover, the head, the head, the fluid inlet, and the lower end of the end cap a plurality of constraint between the lid member, a plurality of constraint elements coaxial series of closely spaced columnar structure, the helical tubular cavities of different diameter coaxially formed inside the two columnar structures, referred to as a helical tubular cavity and two helical tubular cavity, in a cavity provided in the helical tubular helical springs, helical tubular cavity is provided in the airbag II. 本发明的优点是关节体积紧凑、运动灵活,主动关节的三个螺旋人工肌肉驱动装置与关节本体复合为一体,该关节具有3个自由度,可实现仿生关节的空间旋转、弯曲和轴向伸长等功能,属流体驱动变形的空间柔性关节。 Advantage of the invention is that the joint is compact, flexible movement, the three active joints helical drive artificial muscle and joint compound body as a whole, the joint has three degrees of freedom, the space can be achieved biomimetic joint rotation, bending and axial extension length and other features, is a flexible joint space fluid driven deformation.

Description

气动旋伸型三螺旋柔性关节 Pneumatic rotary type triple helix extending flexible joint

技术领域 FIELD

[0001]本发明涉及机器人肢体用柔性关节,特别涉及一种气动旋伸型三螺旋柔性关节。 [0001] The present invention relates to a robot with a flexible limb joints, and particularly relates to a pneumatic rotary type triple helix extending flexible joint.

背景技术 Background technique

[0002]目前机器人技术在工业、军事、医疗和服务等领域应用广泛,已成为世界各国的重要战略支撑技术之一。 [0002] Currently robot technology widely used in industrial, military, medical and services, has become an important strategic technical support around the world. 作为机器人的关键技术和核心部件,各类主动关节的结构、驱动、运动性能和控制方法,将决定机器人的整体水平。 As a key technology and core member of the robot, the structure of various types of active joints, drive, sports performance and control method, the robot will determine the overall level. 在陆生、水生和仿人机器人领域,肢体柔性关节在解决柔性运动和抓取物体的适应性方面具有重要作用。 In terrestrial, aquatic and humanoid robots, flexible limb joint has an important role in solving the flexible adaptability gripping and moving objects. 因此,多年来国内外对柔性关节进行了深入研究并取得了可喜成果,研究的主要内容有关节驱动装置、驱动材料和关节柔性结构的实现。 Therefore, over the years at home and abroad for flexible joints we have conducted intensive studies and achieved gratifying results, the main content of the relevant section of the drive to achieve, drive material and joints flexible structure. 其中关节驱动结构和控制方式为研究重点,驱动材料是研究难点。 Wherein the joint driving structure and research focus control mode, the drive is Difficulties material.

[0003]国内外已研发的柔性关节主要有伺服电机驱动、液压驱动、气缸驱动、导电聚合物、电致驱动和人工肌肉驱动等几种形式。 [0003] The flexible joints have been developed at home and abroad main servo motor drive, hydraulic drive cylinder drive, several forms conducting polymer, electrically driven actuator driven artificial muscle and the like. 其中应用伺服电机驱动、液压和气缸驱动方式的柔性关节,其技术基本成熟,应用广泛,但体积较大,关节柔性程度受到限制;而导电聚合物和电致驱动行程较小,主要用于微动关节;气动人工肌肉驱动具有较好的综合柔性,近年来得到了快速发展,但具有较强的非线性。 Wherein the application of servo motor drive, a flexible joint and a hydraulic cylinder drive mode, the technology matured, widely used, but a larger volume, limited degree of flexibility joints; the conductive polymer and electroluminescent small stroke drive, is mainly used in micro movable joints; pneumatic artificial muscles driver has good overall flexibility in recent years has been rapid development, but has a strong nonlinearity. 以上几种驱动装置在应用过程中都要与机械结构配合使用,体积大,小型化困难,关节的运动轨迹由机械结构决定,柔顺性差。 Several more drive means to be used with a mechanical structure in the application process, bulky, difficult to downsize the trajectory determined by the mechanical structure of the joint, poor compliance.

[0004]因此,目前已有的人工关节尚不能完全满足在形式变化较大的工业品的搬运、水中仿生及特种机器人等领域的特殊需要,有必要继续开发具有高度柔性的关节。 [0004] Thus, there are artificial joints still can not fully meet the special needs of variation in the field of handling large industrial products, water and special bionic robot, it is necessary to continue to develop highly flexible joints.

发明内容 SUMMARY

[0005]本发明的目的在于克服现有技术之不足,提供一种机器人肢体用气动旋伸型三螺旋柔性关节,采用螺旋弹性体定向膨胀方式驱动,实现旋转、弯曲和伸长功能。 [0005] The object of the present invention is to overcome the disadvantages of the prior art, there is provided a pneumatic rotary robot body extending flexible articulation type triple helix, spiral orientation of the elastomeric expansion driven to achieve rotation, bending and elongation function.

[0006]本发明的一种气动旋伸型三螺旋柔性关节,包括约束元件、关节骨架、气囊、圆柱螺旋弹簧、上端盖、下端盖、上封头、下封头、流体入口,在上端盖和下端盖之间设有若干个约束元件,所述若干个约束元件同轴串联密排形成柱状结构,在柱状结构内部形成中径不同的两组同轴的螺旋管状空腔,分别称为螺旋管状空腔一和螺旋管状空腔二,在两组同轴螺旋管状空腔的公共轴线处形成圆柱形空腔,在圆柱形空腔内设置关节骨架,关节骨架两端分别与上端盖、下端盖固定连接;螺旋管状空腔一数量为2个,初始相位差为180°,在所述螺旋管状空腔一中设置圆柱螺旋弹簧,圆柱螺旋弹簧的两端分别与上端盖、下端盖固定连接成一体;螺旋管状空腔二数量为3个,初始相位差为120°,在螺旋管状空腔二中设置气囊,气囊两端分别与上封头、下封头连接,构成 [0006] the present invention to a pneumatic rotary type triple helix extending flexible joint, comprising constraining element, skeletal joints, bladder, helical springs, upper cover, lower cover, the head, the head, the fluid inlet, the end cap and between the lower end cap is provided with a plurality of constraint elements, the plurality of constraint elements coaxial series of closely spaced columnar structure, the diameter of the coaxial two different columnar structure formed inside the tubular cavity of a spiral, helical referred a tubular hollow body and two helical tubular cavity, a cylindrical cavity coaxial with the common axis of the two helical tubular cavity, the cylindrical cavity is provided in the skeletal joint, the two ends of the joint cap skeleton respectively, the lower end fixedly connected to the cover; a number of helical tubular cavity 2, the initial phase difference is 180 °, helical springs disposed in a cavity of the tubular coil, both ends of a cylindrical coil spring on the end cap, respectively, is fixedly connected to the lower end cap integrally; two helical tubular cavity number three, the initial phase difference of 120 °, with the upper head and lower head connection is provided in the airbag, the airbag tube ends two helical cavity respectively, constituting 封腔体,上封头和下封头分别与所述上端盖、下端盖固定连接成一体,在下封头上设有流体入口,以充入压力流体。 Seal the cavity, the head and lower head, respectively the upper cap, the lower cap fixedly connected integrally with the lower head with the fluid inlet, the fluid pressure in charging.

[0007]所述气囊有3个,每个气囊管径、中径、节距、旋向和圈数完全相同;三个气囊构成三螺旋结构。 The [0007] There are three airbags, each airbag identical diameter, the diameter, pitch and number of turns of rotation; triple helical structures constituting the three balloons.

[0008]所述约束元件为片状,外形为圆形或正多边形,约束元件的镂空部分称为螺旋孔,螺旋孔有两组,所述螺旋孔为两组螺旋管状空腔在约束元件的局部结构,螺旋孔的中径等于所对应的螺旋管状空腔的中径,同一约束元件上两组螺旋孔之间的相位差由约束元件所在轴向位置决定。 [0008] The constraint member is a sheet-like, circular or regular polygonal shape, the hollow portion of the restraining element is referred to as a spiral hole, the hole has two sets of spiral, the helical aperture is bound by two helical tubular element cavity partial structure, the diameter of the spiral is equal to the diameter of the hole corresponding to the helix of the tubular cavity, the same constraint phase difference between the two groups of helical holes restraint element positioning member is located axially.

[0009]所述骨架为柔性轴或轴向可伸缩轴套。 [0009] The skeleton is a flexible shaft or bushing axially retractable.

[0010]所述柔性轴为圆柱螺旋弹簧或橡胶轴;轴向可伸缩轴套由套筒和光轴组成,套筒和光轴间隙配合。 [0010] The flexible shaft is a cylindrical helical spring or a rubber shaft; retractable sleeve axially by the sleeve composition and the optical axis, the optical axis of the sleeve and the clearance fit.

[0011 ]在下封头上设有流体入口,以充入压力流体,当充入流体压力增加,密封腔体膨胀推动约束元件移动使关节主动变形加大,当充入流体压力减小,弹簧恢复,关节变形减小,变形情况与所述骨架形式和通压状态有关;当骨架为柔性轴,单或双气囊通气时,关节发生主动旋转、弯曲和伸长复合变形,变形程度由流体介质压力决定,三气囊通气时,关节发生主动旋转和伸长复合变形;当骨架为轴向可伸缩轴套时,关节发生主动旋转和伸长复合变形,变形程度由流体介质压力和通压气囊数量共同决定;所述充入流体,可以是无腐蚀、无毒性的介质,如压缩空气、水等。 [0011] with the lower head with the fluid inlet, the fluid pressure in charging, charging when the fluid pressure increases, the seal cavity promote the expansion restricting member moves to increase the deformation of the joint initiative, when the charged fluid pressure decreases, the spring recovery , reduced joint deformation, deformation of the bobbin and form on the relevant pressing state; flexible shaft when the skeleton single balloon or double vent, the occurrence of joints, active rotating, bending deformation and elongation complex, is determined by the degree of deformation of a fluid pressure medium, when three ventilation airbag, driving rotary joint deformation and elongation of the composite occurs; when the telescopic sleeve axial skeleton, and elongation active rotating joints from a composite textured, the degree of deformation determined by the pressure and quantity of the fluid medium through the pressure of the airbag; the said fluid filled, may be non-corrosive, non-toxic medium, such as compressed air, water and the like.

[0012]本发明的优点是关节体积紧凑和运动灵活,主动关节的三个螺旋人工肌肉驱动装置与关节本体复合为一体;该关节具有3个自由度,可实现仿生关节的空间旋转、弯曲和轴向伸长等功能,属流体驱动变形的空间柔性关节;根据需要加装不同的骨架,可分别完成空间旋弯伸和单方向旋进两种组合模式的变形运动;可采用三个比例阀或一个比例阀和三个换向阀进行控制,方法简单控制方便;主要应用于仿生机器人的关节上,尤其适用于关节柔性要求较高的蛇类、象鼻、章鱼和水中软体动物的关节上,具有较好的应用前景。 [0012] The advantage of the invention is that the joint is compact and flexible movement, spiral three artificial muscle and joint driving apparatus main body as one composite active joints; the joint has three degrees of freedom, the space can be achieved biomimetic joint rotation, bending and axial elongation and other functions, is the flexible joint space fluid-driven deformation; retrofitting various backbone necessary, can perform spatial spin and stretch bending deformation unidirectional precessing motion of each combination of two modes; employed three or proportional valve three valve and a proportional valve control, the control method is simple; bionic robots are mainly used in the joints, especially for joints in the high flexibility requirements snakes, trunk, octopus and mollusks water joints, It has good application prospects.

附图说明 BRIEF DESCRIPTION

[0013]下面结合附图和具体实施方式对本发明作进一步详细的说明: [0013] The present invention will be further described in detail in conjunction with accompanying drawings and specific embodiments:

[0014]图1是本发明气动旋伸型三螺旋柔性关节爆炸示意图; [0014] FIG. 1 of the present invention is a pneumatic screw extending flexible articulation exploded view of a triple helix type;

[0015]图2是本发明气动旋伸型三螺旋柔性关节轴侧示意图; [0015] FIG. 2 is a pneumatic schematic of the present invention, triple helical screw shaft-side extension of the flexible joint type;

[0016]图3是本发明气动旋伸型三螺旋柔性关节柔性轴骨架示意图; [0016] FIG. 3 is a pneumatic schematic of the present invention is a spin-type skeleton extending flexible articulation triple helical flexible shaft;

[0017]图4是本发明气动旋伸型三螺旋柔性关节轴向可伸缩轴套骨架示意图。 [0017] FIG. 4 is a pneumatic type triple helical screw extending axially of the flexible joint of the present invention is a schematic diagram of a scalable hub backbone.

[0018]图中1、上封头;2、上端盖;3、关节骨架;3-1、套筒;3-2、光轴;4、约束元件;5、气囊; [0018] FIG. 1, the upper head; 2, the end cap; 3, skeletal joints; 3-1, the sleeve; 3-2, an optical axis; 4, constraining element; 5, the airbag;

6、圆柱螺旋弹簧;7、下端盖;8、下封头;9、流体入口。 6, helical springs; 7, lower end cap; 8, the head; 9, the fluid inlet.

具体实施方式 Detailed ways

[0019] 实施例: [0019] Example:

[0020]下面结合附图和具体实例对本发明作出进一步地详细描述。 [0020] The following description is made further in detail of the present invention in conjunction with the accompanying drawings and specific examples.

[0021]本发明是由上封头1、上端盖2、关节骨架3、约束元件4、气囊5、圆柱螺旋弹簧6、下端盖7、下封头8、流体入口9组成的;上端盖I和下端盖7分别位于气动旋伸型三螺旋柔性关节两端,气动旋伸型三螺旋柔性关节中间由20个约束元件4同轴密排串联,串联后外形为柱状结构,内部形成中径不同的两组同轴的螺旋管状空腔,螺旋管腔的法向截面为圆形,在轴线处形成一个圆柱形空腔,各空腔互不干涉;在轴线处的圆柱形空腔中设置关节骨架3(附图3柔性轴骨架实例,附图4轴向可伸缩轴套骨架实例),关节骨架3两端分别与所述上端盖2和下端盖7固定连接成一体;在所述大中径的螺旋管腔(螺旋管状空腔一)中设置圆柱螺旋弹簧6,螺旋管状空腔一数量为2个,初始相位差为180°,所述圆柱螺旋弹簧6两端分别与上端盖I和下端盖5固定连接成一体;螺旋管状空腔二数量为3 Cap on the I; [0021] The present invention is made on the head 1, the cover 2, the joint skeleton (3), the constraining element 4, the airbag 5, a cylindrical coil spring 6, the lower end cap 7, the head 8, the fluid inlet 9 consisting of 7 and the lower end cap at each end of the pneumatic type triple helical screw extending flexible joints, hyperextension intermediate pneumatic rotary joint by the triple helix of the flexible restraining element 20 coaxially 4 series of closely packed, the shape of the columnar structure in series, in the form different inner diameter the two coaxial helical tubular cavity, the spiral cavity of the normal circular cross section, is formed at the axis of a cylindrical cavity, each cavity interfere with each other; provided at the joint axis of the cylindrical cavity skeleton (3) (Figure 3 flexible shaft skeleton example, reference skeleton sleeve 4 axially telescopically example), two ends of the joint 3 backbone and the upper end cap 2 and lower end cap 7 is fixedly connected integrally; the large and medium diameter spiral cavity (a hollow tubular coil) provided in a cylindrical coil spring 6, a number of helical tubular cavity 2, the initial phase difference is 180 °, both ends of said cylindrical coil spring 6 and the end cap respectively and I the cover 5 is fixed integrally connected; a tubular coil number to two cavities 3 ,初始相位差为120°,在所述小中径的螺旋管腔(螺旋管状空腔二)中设置橡胶气囊5,所述气囊5两端分别与上封头I和下封头8连接,构成密封腔体,上封头和下封头分别与所述上端盖2和下端盖7固定连接成一体;在下封头上设有流体入口9,上端盖2和下端盖7可通过螺纹连接的方式与机器人本体组装。 , Initial phase difference of 120 °, a rubber balloon 5 in the small diameter of the spiral chamber (helical tubular cavity two), the air bag 5 are connected to both ends of the upper head and lower head 8 I, constituting the sealed cavity, the head and lower head, respectively the upper cap 2 and lower end cap 7 is fixedly connected integrally; lower sealing head is provided with a fluid inlet 9, the end cap 2 and lower end cap 7 may be connected by a threaded way and the robot body assembly.

Claims (5)

1.一种气动旋伸型三螺旋柔性关节,其特征在于:包括约束元件、关节骨架、气囊、圆柱螺旋弹簧、上端盖、下端盖、上封头、下封头、流体入口,在上端盖和下端盖之间设有若干个约束元件,所述若干个约束元件同轴串联密排形成柱状结构,在柱状结构内部形成中径不同的两组同轴的螺旋管状空腔,分别称为螺旋管状空腔一和螺旋管状空腔二,在两组同轴螺旋管状空腔的公共轴线处形成圆柱形空腔,在圆柱形空腔内设置关节骨架,关节骨架两端分别与上端盖、下端盖固定连接;螺旋管状空腔一数量为2个,初始相位差为180°,在所述螺旋管状空腔一中设置圆柱螺旋弹簧,圆柱螺旋弹簧的两端分别与上端盖、下端盖固定连接成一体;螺旋管状空腔二数量为3个,初始相位差为120°,在螺旋管状空腔二中设置气囊,气囊两端分别与上封头、下封头连接,构成 A pneumatic rotary type triple helix extending flexible joint, characterized by: a constraint element, skeletal joints, bladder, helical springs, upper cover, lower cover, the head, the head, the fluid inlet, the end cap and between the lower end cap is provided with a plurality of constraint elements, the plurality of constraint elements coaxial series of closely spaced columnar structure, the diameter of the coaxial two different columnar structure formed inside the tubular cavity of a spiral, helical referred a tubular hollow body and two helical tubular cavity, a cylindrical cavity coaxial with the common axis of the two helical tubular cavity, the cylindrical cavity is provided in the skeletal joint, the two ends of the joint cap skeleton respectively, the lower end fixedly connected to the cover; a number of helical tubular cavity 2, the initial phase difference is 180 °, helical springs disposed in a cavity of the tubular coil, both ends of a cylindrical coil spring on the end cap, respectively, is fixedly connected to the lower end cap integrally; two helical tubular cavity number three, the initial phase difference of 120 °, with the upper head and lower head connection is provided in the airbag, the airbag tube ends two helical cavity respectively, constituting 封腔体,上封头和下封头分别与所述上端盖、下端盖固定连接成一体,在下封头上设有流体入口,以充入压力流体。 Seal the cavity, the head and lower head, respectively the upper cap, the lower cap fixedly connected integrally with the lower head with the fluid inlet, the fluid pressure in charging.
2.根据权利要求1所述的一种气动旋伸型三螺旋柔性关节,其特征在于:所述气囊有3个,每个气囊管径、中径、节距、旋向和圈数完全相同;三个气囊构成三螺旋结构。 According to a pneumatic rotary type triple helical extension of said flexible joint as claimed in claim 1, wherein: said balloon has three, the same as the diameter of each balloon, the diameter, pitch and number of turns of rotation ; triple helical structures constituting the three balloons.
3.根据权利要求1所述的一种气动旋伸型三螺旋柔性关节,其特征在于:所述约束元件为片状,外形为圆形或正多边形,约束元件的镂空部分称为螺旋孔,螺旋孔有两组,所述螺旋孔为两组螺旋管状空腔在约束元件的局部结构,螺旋孔的中径等于所对应的螺旋管状空腔的中径,同一约束元件上两组螺旋孔之间的相位差由约束元件所在轴向位置决定。 According to a pneumatic rotary type triple helical extension of the flexible joint as claimed in claim 1, wherein: said constraint element is a sheet-like, circular or regular polygonal shape, the hollow portion of the restraining element is referred to as a helical hole, two spiral hole, the hole is a helical spiral tube cavity in two partial structural constraint elements, the diameter of the spiral is equal to the diameter of the hole corresponding to the helix of the tubular cavity, the same constraint on the two sets of helical elements of the hole the phase difference between the axial restraint element positioning location.
4.根据权利要求1所述的一种气动旋伸型三螺旋柔性关节,其特征在于:所述关节骨架为柔性轴或轴向可伸缩轴套。 According to a pneumatic rotary type triple helical extension of the flexible joint as claimed in claim 1, characterized in that: said joint is a flexible shaft or axial skeleton telescopic sleeve.
5.根据权利要求4所述的一种气动旋伸型三螺旋柔性关节,其特征在于:所述柔性轴为圆柱螺旋弹簧或橡胶轴;轴向可伸缩轴套由套筒和光轴组成,套筒和光轴间隙配合。 According to a pneumatic rotary type triple helix extending flexible articulation according to claim 4, wherein: said flexible shaft is a cylindrical helical spring or a rubber shaft; bushing axially retractable from the optical axis and consisting of a sleeve, the sleeve and the optical axis cylinder clearance fit.
CN201410029791.0A 2014-01-22 2014-01-22 Pneumatic rotary type triple helix extending flexible joint CN103786168B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410029791.0A CN103786168B (en) 2014-01-22 2014-01-22 Pneumatic rotary type triple helix extending flexible joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410029791.0A CN103786168B (en) 2014-01-22 2014-01-22 Pneumatic rotary type triple helix extending flexible joint

Publications (2)

Publication Number Publication Date
CN103786168A CN103786168A (en) 2014-05-14
CN103786168B true CN103786168B (en) 2016-12-07

Family

ID=50662442

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410029791.0A CN103786168B (en) 2014-01-22 2014-01-22 Pneumatic rotary type triple helix extending flexible joint

Country Status (1)

Country Link
CN (1) CN103786168B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426144B (en) * 2015-08-28 2019-01-18 朱正直 A kind of artificial-muscle and its application, robot
CN105500383B (en) * 2016-02-23 2018-12-07 哈尔滨工业大学 Software module having a plurality of robot motion in the form of

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2696783Y (en) * 2004-01-30 2005-05-04 江南大学 Pneumatic flexible freedom restricted mechanical finger
CN201295928Y (en) * 2008-11-03 2009-08-26 浙江工业大学 Side-sway joint based on flexible pneumatic actuator
CN101531009A (en) * 2009-04-04 2009-09-16 北华大学 Three-dimensional composite flexible joint
CN202540314U (en) * 2011-10-25 2012-11-21 兰州交通大学 Flexible pneumatic snake-shaped robot joint module

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6870343B2 (en) * 2001-03-30 2005-03-22 The University Of Michigan Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2696783Y (en) * 2004-01-30 2005-05-04 江南大学 Pneumatic flexible freedom restricted mechanical finger
CN201295928Y (en) * 2008-11-03 2009-08-26 浙江工业大学 Side-sway joint based on flexible pneumatic actuator
CN101531009A (en) * 2009-04-04 2009-09-16 北华大学 Three-dimensional composite flexible joint
CN202540314U (en) * 2011-10-25 2012-11-21 兰州交通大学 Flexible pneumatic snake-shaped robot joint module

Also Published As

Publication number Publication date
CN103786168A (en) 2014-05-14

Similar Documents

Publication Publication Date Title
US7834527B2 (en) Dielectric elastomer fiber transducers
Hines et al. Soft actuators for small‐scale robotics
De Greef et al. Towards flexible medical instruments: Review of flexible fluidic actuators
CA1260986A (en) Artificial musculoskeletal mechanism
US20170097021A1 (en) Soft robotic actuators
Mangan et al. Development of a peristaltic endoscope
EP0146261B1 (en) Axially contractable actuator
Jiang et al. Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
Daerden et al. The concept and design of pleated pneumatic artificial muscles
JP2008509344A (en) Elastomeric bearing having a cylindrical core portion which is improved
Daerden et al. Pneumatic artificial muscles: actuators for robotics and automation
US3638536A (en) Device with a pressurizable variable capacity chamber for transforming a fluid pressure into a motion
JPH08247197A (en) Air-spring leg
WO2009101828A1 (en) Movable tensegrity structure
US8127660B2 (en) Combination of a chamber and a piston, a pump, a motor, a shock absorber and transducer incorporating the combination
WO2013110086A1 (en) Flexible robotic actuators
CN103273979B (en) Splittable snake-like robot with multiple motion modes
Steltz et al. Jamming as an enabling technology for soft robotics
JP2013248699A (en) Lower limb structure for legged robot, and legged robot
US5181452A (en) Bellows actuator
Yang et al. Research on novel flexible pneumatic actuator FPA
CN1246914A (en) Motors, and bearings therefor
US9797415B2 (en) Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators
GB2456424B (en) An inflatable temporary support
US8469865B2 (en) Exercise device with suspended inertial core

Legal Events

Date Code Title Description
C06 Publication
EXSB Decision made by sipo to initiate substantive examination
C14 Grant of patent or utility model
CF01