CN106903681A - A kind of soft robot - Google Patents
A kind of soft robot Download PDFInfo
- Publication number
- CN106903681A CN106903681A CN201710194244.1A CN201710194244A CN106903681A CN 106903681 A CN106903681 A CN 106903681A CN 201710194244 A CN201710194244 A CN 201710194244A CN 106903681 A CN106903681 A CN 106903681A
- Authority
- CN
- China
- Prior art keywords
- support body
- engagement shaft
- light
- right support
- left support
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 239000000017 hydrogel Substances 0.000 claims abstract description 14
- 208000002925 dental caries Diseases 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 230000003534 oscillatory effect Effects 0.000 description 2
- 239000000084 colloidal system Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of soft robot, it is made up of several deformable bodys for arranging, described deformable body includes rigid support body, described rigid support body is made up of left support body and right support body two parts, the contact side of left support body and right support body has a common engagement shaft, engagement shaft is located at the centre of left support body and right support body, enable that left support body and right support body swing relative to engagement shaft, there are two cavitys between left support body and right support body, respectively positioned at the upper and lower part of engagement shaft, light-operated hydrogel and light emitting diode are mounted in cavity.The present invention is a kind of brand-new soft robot, walking is completed by several deformable bodys connected, single deformable body can realize accurate deformation operation, and then drive the cooperating of overall robot, according to the actual needs, light emitting diode controls the amplitude of deformation of light-operated hydrogel by the power of light, so as to realize the precise control of overall robot.
Description
Technical field
The present invention relates to a kind of soft robot.
Background technology
Light-operated hydrogel, is a kind of hydrogel that American scientist is developed according to photostrophism principle.This water-setting
Glue is received to be bent during light irradiation, and can also be different with path according to the position of light, intensity, shows rapid and adjustable
Whole motion.The various deformation elements based on light-operated hydrogel of current report are all non real-time controllable, are specifically for use in software machine
On device people, operating characteristics is poor.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of soft robot, by light-operated autonomous tune
Section movement rhythm, realizes precise motion, and operation is accurate.
To achieve these goals, the technical solution adopted by the present invention is a kind of soft robot, and it is arranged by several
Deformable body composition.
Described deformable body includes rigid support body, and described rigid support body is by left support body and right support body two parts
The contact side of composition, left support body and right support body has a common engagement shaft, and engagement shaft is located at left support body and right support body
Centre so that left support body and right support body can swing relative to engagement shaft, have between left support body and right support body
Two cavitys, light-operated hydrogel and light emitting diode are mounted on respectively positioned at the upper and lower part of engagement shaft, in cavity.
Rigid support body surface face is also equipped with photomask.
Rigid support body is connected by elastic connection muscle from each other.
The present invention is a kind of brand-new soft robot, and walking, single change are completed by several deformable bodys connected
Body can realize accurate deformation operation, and then drive the cooperating of overall robot, according to the actual needs, light-emitting diodes
Pipe controls the amplitude of deformation of light-operated hydrogel by the power of light, so as to realize the precise control of overall robot.
Brief description of the drawings
Fig. 1 is structural scheme of mechanism of the invention.
Fig. 2 is a kind of state diagram of the invention.
Fig. 3 is deformable body structure chart.
Fig. 4 is deformable body deformation state one.
Fig. 5 is deformable body deformation state two.
1st, photomask, 2, deformable body junction, 3, rigid support body, 4, light-operated hydrogel, 5, light emitting diode, 6, elasticity
Dowel, 31, left support body, 32, right support body.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of soft robot, it is made up of several deformable bodys for arranging.
Described deformable body includes rigid support body, and described rigid support body 3 is by left support body 31 and right support body 32
Two parts are constituted, and the contact side of left support body and right support body has a common engagement shaft, and engagement shaft is located at left support body and the right side
The centre of supporter so that left support body and right support body can be around engagement shaft opposing oscillatory, left support body and right support bodies
Between have two cavitys, cavity can be triangular cavity, respectively positioned at the upper and lower part of engagement shaft, be respectively mounted in cavity
There are light-operated hydrogel 4 and light emitting diode 5.
Rigid support body surface face is also equipped with photomask 1, primarily to not influenceing the exterior light of light-operated hydrogel to shine shadow
Ring, so, the light-operated hydrogel in each cavity is only influenceed by light emitting diode in its cavity, control is accurate, such as
Shown in Fig. 3-5, light emitting diode is controlled by microchip, realize that of upper and lower two light emitting diodes in rigid support body is bright
One goes out, and the light-operated hydrogel expansion in unilateral cavity causes left support body and right support body that opposing oscillatory occurs so that the deformation
Body deforms, and by suitable calculating, controls another place's deformable body that reversal deformation occurs, before forming the mode of triangular wave translation
Enter.
Rigid support body connects 6 by elastic connection muscle from each other, using strong elasticity material, elastic connection muscle difference
Between two adjacent engagement shafts of connection, so that deformable body forms a soft entirety, of course for preferably combination,
Rigid support body contact edge from each other is that deformable body junction 2 is bonded with colloid.
The present invention is a kind of brand-new soft robot, and walking, single change are completed by several deformable bodys connected
Body can realize accurate deformation operation, and then drive the cooperating of overall robot, according to the actual needs, light-emitting diodes
Pipe controls the amplitude of deformation of light-operated hydrogel by the power of light, so as to realize the precise control of overall robot.
Claims (4)
1. a kind of soft robot, it is characterised in that be made up of several deformable bodys for arranging.
2. a kind of soft robot according to claim 1, it is characterised in that described deformable body includes rigid support
Body, described rigid support body is made up of left support body and right support body two parts, the contact side of left support body and right support body
With a common engagement shaft, engagement shaft is located at the centre of left support body and right support body so that left support body and right support physical efficiency
It is enough to be swung relative to engagement shaft, there are two cavitys between left support body and right support body, respectively positioned at the top of engagement shaft and
Bottom, is mounted on light-operated hydrogel and light emitting diode in cavity.
3. a kind of soft robot according to claim 1, it is characterised in that rigid support body surface face is also equipped with shading
Film.
4. a kind of soft robot according to claim 1, it is characterised in that rigid support body passes through bullet from each other
Property dowel connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194244.1A CN106903681A (en) | 2017-03-28 | 2017-03-28 | A kind of soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710194244.1A CN106903681A (en) | 2017-03-28 | 2017-03-28 | A kind of soft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903681A true CN106903681A (en) | 2017-06-30 |
Family
ID=59194622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710194244.1A Pending CN106903681A (en) | 2017-03-28 | 2017-03-28 | A kind of soft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903681A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497958A (en) * | 2020-03-18 | 2020-08-07 | 江苏大学 | Liquid metal intelligent hydrogel bionic peristaltic robot with double-layer structure |
| CN112478113A (en) * | 2020-11-30 | 2021-03-12 | 天津大学 | Light-driven bionic octopus soft underwater robot |
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| CN2419750Y (en) * | 2000-02-28 | 2001-02-14 | 张智 | Mobile communication equipment with elastic deforming soft casing |
| US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
| CN1678937A (en) * | 2000-08-18 | 2005-10-05 | 奥利弗克里斯品机器人有限公司 | Improvements in and relating to the robotic positioning of a work tool or sensor |
| CN1870930A (en) * | 2003-08-20 | 2006-11-29 | 新引导系统公司 | Activated polymer articulated instruments and methods of insertion |
| CN1958626A (en) * | 2006-11-01 | 2007-05-09 | 天津工业大学 | Ultraviolet light response type high molecular hydrogel, preparation method and usage |
| CN102170924A (en) * | 2008-10-03 | 2011-08-31 | 皇家飞利浦电子股份有限公司 | Breast pump system |
| CN103322870A (en) * | 2013-06-28 | 2013-09-25 | 湖北三江航天红林探控有限公司 | Fuse swinging execution mechanism |
| CN104349836A (en) * | 2012-02-24 | 2015-02-11 | 乔治·夏帕克基金物理化工学院 | Microchannel with opening and/or closing and/or pumping device |
| US20150302772A1 (en) * | 2012-11-20 | 2015-10-22 | Hongyu Yu | Responsive dynamic three-dimensioinal tactile display using hydrogel |
| CN105111388A (en) * | 2015-09-06 | 2015-12-02 | 华南理工大学 | Near-infrared-light-responsive intelligent aquagel bionic arm and preparation method thereof |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN106002989A (en) * | 2016-07-05 | 2016-10-12 | 董润华 | S-shaped soft-bodied robot |
-
2017
- 2017-03-28 CN CN201710194244.1A patent/CN106903681A/en active Pending
Patent Citations (12)
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|---|---|---|---|---|
| CN2419750Y (en) * | 2000-02-28 | 2001-02-14 | 张智 | Mobile communication equipment with elastic deforming soft casing |
| CN1678937A (en) * | 2000-08-18 | 2005-10-05 | 奥利弗克里斯品机器人有限公司 | Improvements in and relating to the robotic positioning of a work tool or sensor |
| US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
| CN1870930A (en) * | 2003-08-20 | 2006-11-29 | 新引导系统公司 | Activated polymer articulated instruments and methods of insertion |
| CN1958626A (en) * | 2006-11-01 | 2007-05-09 | 天津工业大学 | Ultraviolet light response type high molecular hydrogel, preparation method and usage |
| CN102170924A (en) * | 2008-10-03 | 2011-08-31 | 皇家飞利浦电子股份有限公司 | Breast pump system |
| CN104349836A (en) * | 2012-02-24 | 2015-02-11 | 乔治·夏帕克基金物理化工学院 | Microchannel with opening and/or closing and/or pumping device |
| US20150302772A1 (en) * | 2012-11-20 | 2015-10-22 | Hongyu Yu | Responsive dynamic three-dimensioinal tactile display using hydrogel |
| CN103322870A (en) * | 2013-06-28 | 2013-09-25 | 湖北三江航天红林探控有限公司 | Fuse swinging execution mechanism |
| CN105111388A (en) * | 2015-09-06 | 2015-12-02 | 华南理工大学 | Near-infrared-light-responsive intelligent aquagel bionic arm and preparation method thereof |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN106002989A (en) * | 2016-07-05 | 2016-10-12 | 董润华 | S-shaped soft-bodied robot |
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|---|
| 李铁风等: "软体机器人结构机理与驱动材料研究综述", 《力学学报》 * |
| 李铁风等: "软体机器人结构机理与驱动材料研究综述", 《力学学报》, no. 04, 17 June 2016 (2016-06-17), pages 756 - 766 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497958A (en) * | 2020-03-18 | 2020-08-07 | 江苏大学 | Liquid metal intelligent hydrogel bionic peristaltic robot with double-layer structure |
| CN111497958B (en) * | 2020-03-18 | 2021-08-03 | 江苏大学 | Liquid metal intelligent hydrogel bionic peristaltic robot with double-layer structure |
| CN112478113A (en) * | 2020-11-30 | 2021-03-12 | 天津大学 | Light-driven bionic octopus soft underwater robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170630 |
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