CN108608420A - There is one kind ring to indulge myo-architectonic pneumatic soft robot - Google Patents
There is one kind ring to indulge myo-architectonic pneumatic soft robot Download PDFInfo
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- CN108608420A CN108608420A CN201810230781.1A CN201810230781A CN108608420A CN 108608420 A CN108608420 A CN 108608420A CN 201810230781 A CN201810230781 A CN 201810230781A CN 108608420 A CN108608420 A CN 108608420A
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- muscle
- longitudinal muscle
- air cavity
- longitudinal
- elastic body
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- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
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Abstract
The invention discloses one kind, and there is ring to indulge myo-architectonic pneumatically imitative worm soft robot, including two body segments end to end, and is divided into ectonexine double-layer structure, and internal layer is longitudinal muscle structure, including symmetrical semicircle longitudinal muscle air cavity and metallic radial limitation ring；Outer layer is circular muscle structure, is included in three circular muscle air cavitys of bottom distribution, and is the friction foot with salient point by paste outside slide plate, slide plate.The robot has following features：One, drive control is carried out by the inflation/deflation to each air cavity；Two, the inflation of internal layer longitudinal muscle air cavity can realize the elongation strain of robot body segment, and when air cavity inflation pressure in left and right is inconsistent, body segment realizes flexural deformation.Three, the inflation of outer layer circular muscle air cavity can realize the stretching of slide plate.Have benefited from These characteristics, the multi-motion modes such as there is rectilinear creeping, turning to creep for the robot, slope climbing movement, leaping over obstacles.Present invention application high-air-tightness specific rubber and compressed air, be beneficial to environmental protection with it is energy saving, have a good application prospect in fields such as resources observation, disaster relief rescue, pipeline detection, military surveillances.
Description
Technical field
The present invention relates to Pneumatic Transmission fields, more particularly to one kind there is ring to indulge myo-architectonic pneumatic soft robot.
Background technology
Soft robot has many advantages using the software biology of nature as prototype：Theoretically there is unlimited multiple degrees of freedom,
End effector can reach spatially any point；With considerable flexibility, it is adapted to various narrow and irregular
Environment；It can change the shapes and sizes of itself in wide range by active deformation and Passive deformation, can pass through than certainly
The smaller gap of body normality.Therefore, before software robot has wide application in the fields such as industry, military, medical treatment, rescue
Scape.
Soft robot has a unlimited multiple degrees of freedom in theory, but driver Limited Number, at present soft robot
Main type of drive has intellectual material driving（Dielectric elastomer DE, marmem SMA, ion polymer-metal composite wood
Expect IPMC etc.）, compressed gas-driven, chemical reaction driving（Methane, propane burning）.Existing soft robot in the prevalence of
The shortcomings of forms of motion is single, motion control is difficult, movement velocity is low, to solve the above-mentioned problems, researcher carries out
Correlative study.Chinese patent 201220574291.1 discloses " a kind of soft robot ", and four are set up in trunk inner circumferential
Item or four are embedded in differential magnetic rigid element or differential magnetic macromolecule composite wood in an axial direction with upper channel in channel
Material is realized by controlling the stroke of differential magnetic rigid element or differential magnetic polymer composite in each channel
Whole bending and wriggling.This soft robot inefficiency, complicated, manufacture difficulty.
Chinese patent 201610099586.0 discloses " a kind of soft robot module with multi-motion form ",
Devise three snorkels on elastic body, connect three driving inner cavities, and in the several constraint circles of exterior design, realize it is each to
The multi-motions form such as bending, linear extension, torsion.Although this soft robot realizes the deformation of various modes, but one
End is fixed, and can not realize the moving movement of robot.
Chinese patent 201720211884.4 discloses that a kind of " transformation compound bending module, S types advance around module and soft
Body robot ", compound bending module include two transformation chambers, and transformation chamber is formed by connecting by flexible flat and flexible corrugation face, real
Compound bending deformation is showed, but it makes trouble, plane connects that difficulty is larger, and the accuracy of manufacture is relatively low with corrugated surface.And this software
The artificial underwater robot of machine, by multiple modules realize S-shaped flexural oscillations, but cannot under the complex situations of land work
Make.
Invention content
The object of the present invention is to provide one kind, and there is ring to indulge myo-architectonic pneumatic soft robot, solves existing
Soft robot during the motion there is forms of motion it is single, the problem that operating rate is low, control is difficult.
Realize that the technical solution of the object of the invention is：There is one kind ring to indulge myo-architectonic pneumatic soft robot, point
For two body segments of head and the tail, including longitudinal muscle structure and circular muscle structure, circular muscle structure setting is in longitudinal muscle structural outer；Wherein longitudinal muscle structure
Including longitudinal muscle elastic body, two vulcanie pieces and multiple metallic radial limitation rings；Longitudinal muscle elastic body is cylinder, in
If there are four longitudinal muscle air cavity, four longitudinal muscle air cavitys prolong to center from the head of longitudinal muscle elastic body and tail portion respectively in pairs
It stretches, and is not communicated with, be located at same group of two symmetrical distributions of longitudinal muscle air cavity, two vulcanie pieces are separately fixed at vertical
The both ends of flesh elastic body, multiple metallic radial limitation rings are fixed on the outer wall of longitudinal muscle elastic body at equal intervals.
The circular muscle structure includes circular muscle elastic body, three groups of friction foots, three silica gel pieces and three slide plates, the circular muscle
Elastic body center be equipped with central through hole, circular muscle elastic body include three rectangular stable blocks and two tubular telescopic bodies, two
Tubular telescopic body connects three rectangular stable blocks, and circular muscle elastic body wraps up longitudinal muscle elastic body and metallic radial limitation ring,
And be connected, wherein, two group longitudinal muscle air cavitys concordant with the end face of vulcanie piece positioned at the end face of two rectangular stable blocks of end
The centrally located rectangular stable block in end in, rectangular stable block opens that there are one groove types into circular muscle gas from bottom surface upwards
Chamber is opened on rectangular stable block side wall there are one charge and discharge gas port, and the charge and discharge gas port is communicated with circular muscle air cavity, the bottom of rectangular stable block
The silica gel piece that is connected, silica gel piece is held to cover the opening of circular muscle air cavity in front, silica gel piece bottom surface is connected slide plate, and slide plate front end is to turning over
Folding；Friction foot is fixed on the silica gel piece rear of the bottom surface of rectangular stable block.
Compared with prior art, the present invention its remarkable advantage is：
（1）The present invention is distributed using symmetrical formula longitudinal muscle air cavity, using to gas interacvity air-filling, realizes the linear extension of robot
And flexural deformation.
（2）The present invention utilizes metallic radial limitation ring, and change in size radially occurs when limiting robot motion, carries
While high robot motion's efficiency, the rigidity of robot is added somewhat to, robot is protected, improves machine
The adaptive capacity to environment of people.
（3）The inflation of present invention application circular muscle air cavity so that silica gel piece deforms, and slide plate is stretched out, and effectively changes
Frictional force size between robot and ground, to solve existing robot can lead in crawling process in the presence of " slipping afterwards " phenomenon
The problem for causing movement velocity low, greatly improves robot motion's efficiency and movement velocity.
（4）The slide vane structure that the present invention designs carries upper hem, and the work(of smaller barrier can be crossed over by realizing robot
Energy.
（5）The present invention realizes the quick rectilinear creeping of robot, turning motion, climbing with the compound structure of ring longitudinal muscle
The multi-motion modes such as movement and Obstacle Negotiation, solve the problems, such as that current soft robot motor pattern is single.
Description of the drawings
Fig. 1 is the overall structure diagram that there is the present invention ring to indulge myo-architectonic pneumatic soft robot.
Fig. 2 is that the present invention indulges myo-architectonic front view.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the A-A sectional views of Fig. 2.
Fig. 5 is the myo-architectonic front view of ring of the present invention.
Fig. 6 is the partial sectional view of Fig. 5.
Fig. 7 is the B-B sectional views of Fig. 6.
Fig. 8 is the structure chart of slide plate.
Specific implementation mode
The basic thought of the present invention is by the way of compressed air-driven, to the longitudinal muscle air cavity 3 and circular muscle gas of robot
Chamber 8 carries out regular inflation/deflation, realizes the various modes movement of robot.Motion process of the present invention has following features：One,
Longitudinal muscle air cavity 3 can realize the elongation and bending of robot body segment after inflation/deflation, be line when left and right air cavity the blowing pressure is consistent
Property elongation, when left and right air cavity the blowing pressure is inconsistent for bending；Two, circular muscle air cavity 8 realizes the stretching of slide plate 11 in inflation/deflation
With retraction, the frictional force on robot and ground is effectively changed, robot movement velocity is improved.Have benefited from These characteristics, institute
Stating soft robot has multi-motion modes.
In conjunction with Fig. 1 to Fig. 8, there is one kind ring to indulge myo-architectonic pneumatic soft robot, be divided into two body segments of head and the tail, including
Longitudinal muscle structure and circular muscle structure, circular muscle structure setting is in longitudinal muscle structural outer；Wherein longitudinal muscle structure include longitudinal muscle elastic body 7,
Two vulcanie pieces 4 and multiple metallic radial limitation rings 6；Longitudinal muscle elastic body 7 is cylinder, is inside set there are four longitudinal muscle gas
Chamber 3, four longitudinal muscle air cavitys 3 extend to center from the head of longitudinal muscle elastic body 7 and tail portion respectively in pairs, and are not communicated with,
Positioned at same group of two longitudinal muscle air cavitys, 3 symmetrical distribution, two vulcanie pieces 4 are separately fixed at longitudinal muscle elastic body
7 both ends, multiple metallic radial limitation rings 6 are fixed on the outer wall of longitudinal muscle elastic body 7 at equal intervals.
Longitudinal muscle elastic body 7 is made of silicon rubber, the diameter of vulcanie piece 4 and the outer diameter phase of longitudinal muscle elastic body 7
Together, through-hole 2 there are two being opened on vulcanie piece 4, corresponds to two longitudinal muscle air cavitys 3 of the same end respectively.
Circular muscle structure includes 5, three groups of friction 1, three silica gel pieces 10 of foot of circular muscle elastic body and three slide plates 11, circular muscle bullet
Property 5 center of main body be equipped with central through hole, circular muscle elastic body 5 include three rectangular stable block 5-1 and two tubular telescopic body 5-
2, two rectangular stable block 5-1 of tubular telescopic body 5-2 connections three, circular muscle elastic body 5 is by longitudinal muscle elastic body 7 and metal diameter
It wraps up, and is connected to limitation ring 6, wherein the end face positioned at the end face and vulcanie piece 4 of two rectangular stable block 5-1 of end
Concordantly, in the centrally located rectangular stable block 5-1 in the end of two groups of longitudinal muscle air cavitys 3, rectangular stable block 5-1 is upward from bottom surface
It opens that there are one groove types into circular muscle air cavity 8, opens that there are one charge and discharge gas port 9, charge and discharge gas port 9 and rings on rectangular stable block 5-1 side walls
Flesh air cavity 8 communicates, and the connected silica gel piece 10 in bottom surface front end of rectangular stable block 5-1, silica gel piece 10 covers the opening of circular muscle air cavity 8
Lid, 10 bottom surface of silica gel piece are connected slide plate 11, and 11 front end of slide plate flips up；Friction foot 1 is fixed on the bottom surface of rectangular stable block 5-1
10 rear of silica gel piece.
Circular muscle elastic body 5 is integrally manufactured using silicon rubber, and 1 bottom surface of foot that rubs is equipped with multiple salient points.
The high-air-tightness specific rubber that the vulcanie piece 4 uses is round sheet, diameter and the longitudinal muscle elasticity master
7 external cylindrical surface diameter of body is consistent.There is symmetrical round inflation/deflation corresponding with longitudinal muscle air cavity on the vulcanie piece 4
Mouthful.The metallic radial limitation ring 6 is round seamless ring, and the metal used is brass, stainless steel or aluminium alloy etc., metallic radial
6 transverse cross-sectional profile of limitation ring is rectangle or square.
1-8 illustrates the specific implementation mode of the present invention below in conjunction with the accompanying drawings：
One, rectilinear motion mode
Longitudinal muscle air cavity is supplied using the first positive pressure source on the left of robot, and right side longitudinal muscle air cavity is supplied using the second positive pressure source, three
Circular muscle air cavity 8 is supplied using third positive pressure source.It is supplied to head circular muscle air cavity 8 by third positive pressure source, head silica gel piece 10 becomes
Shape, slide plate 11 stretch out, and head is in lifting status；First and second positive pressure source is controlled simultaneously to stem body segment or so longitudinal muscle air cavity 3
Gas supply, and supply gas pressure is consistent, the linear elongation strain of stem body segment, at this time because head slide plate stretches out, with frictional ground force compared with
Small, somites caudal remains stationary as, and head moves forward a distance；It deflates to head circular muscle air cavity 8, head silica gel piece 10 restores
To original shape, slide plate 11 is retracted, and head is fallen, meanwhile, control third positive pressure source supplies intermediate position circular muscle air cavity 8, this portion
Position silica gel piece 10 deforms, and slide plate 11 stretches out；It deflates to stem body segment longitudinal muscle air cavity 3, while passing through the first and second positive pressures
Source supplies tail portion or so longitudinal muscle air cavity 3, and supply gas pressure is consistent, and stem body segment shortens at this time, somites caudal elongation,
Intermediate position moves forward a distance；To intermediate circular muscle air cavity 8 deflate, by third positive pressure source to tail portion circular muscle air cavity 8 into
Row gas supply, to original shape, slide plate 11 is retracted for 10 recovery of intermediate position silica gel piece at this time, meanwhile, tail portion silica gel piece 10 deforms, slide plate
11 stretch out, and lifting status is presented in tail portion；Deflation is carried out at the same time to somites caudal or so longitudinal muscle air cavity 3, somites caudal shortens, tail portion
Move forward a distance；It deflates to tail portion circular muscle air cavity 8, tail portion silica gel piece 10 restores to original shape, and slide plate 11 is retracted.
So far robot completes primary linear motion period, a distance of creeping forward.
Two, turning motion mode
Longitudinal muscle air cavity is supplied using the first positive pressure source on the left of robot, and right side longitudinal muscle air cavity is supplied using the second positive pressure source, three
Circular muscle air cavity 8 is supplied using third positive pressure source.It is supplied to head circular muscle air cavity 8 by third positive pressure source, head silica gel piece 10 becomes
Shape, slide plate 11 stretch out, and head is in lifting status；First and second positive pressure source is controlled simultaneously to stem body segment or so longitudinal muscle air cavity 3
Gas supply, and supply gas pressure is inconsistent, stem body segment is in flexural deformation, smaller with frictional ground force at this time because head slide plate stretches out,
Somites caudal remains stationary as, and head is to front curve a distance；It deflates to head circular muscle air cavity 8, head silica gel piece 10 restores extremely
Original shape, slide plate 11 are retracted, and head is fallen, meanwhile, control third positive pressure source supplies intermediate position circular muscle air cavity 8, this position
Silica gel piece 10 deforms, and slide plate 11 stretches out；It deflates to stem body segment longitudinal muscle air cavity 3, while passing through the first and second positive pressure sources
Tail portion or so longitudinal muscle air cavity 3 is supplied, supply gas pressure keeps inconsistent, and stem body segment shortens at this time, somites caudal elongation,
Intermediate position is bent forward mobile a distance；It deflates to intermediate circular muscle air cavity 8, by third positive pressure source to tail portion circular muscle air cavity
8 are supplied, and intermediate position silica gel piece 10 restores to original shape at this time, and slide plate 11 is retracted, meanwhile, tail portion silica gel piece 10 deforms,
Slide plate 11 stretches out, and lifting status is presented in tail portion；Deflation is carried out at the same time to somites caudal or so longitudinal muscle air cavity 3, somites caudal shortens,
A distance is moved to front curve in tail portion；It deflates to tail portion circular muscle air cavity 8, tail portion silica gel piece 10 restores to original shape, sliding
Piece 11 is retracted.So far robot completes a turning motion period, a distance of creeping of turning forward.When the first positive pressure source supplies
When pressure is more than the second positive pressure source supply gas pressure, turning motion in front of robot from left to right, when the first positive pressure source supply gas pressure is small
When the second positive pressure source supply gas pressure, robot left-hand left front turning motion.
Three, Obstacle Negotiation mode
The gas supply sequence of present embodiment is identical as the gas supply sequence of first embodiment, when barrier is met by robot, leads to
The upper hem lower surface and bar contact for crossing slide plate 11 generate a upward lifting force, and barrier can be stepped up by being robot head
Hinder object, to carry out leaping over obstacles movement.
Claims (7)
1. there is one kind ring to indulge myo-architectonic pneumatic soft robot, it is divided into two body segments of head and the tail, it is characterised in that：Including longitudinal muscle
Structure and circular muscle structure, circular muscle structure setting is in longitudinal muscle structural outer；Wherein longitudinal muscle structure includes longitudinal muscle elastic body（7）, two
A vulcanie piece（4）With multiple metallic radial limitation rings（6）；Longitudinal muscle elastic body（7）For cylinder, inside set that there are four vertical
Flesh air cavity（3）, four longitudinal muscle air cavitys（3）In pairs from longitudinal muscle elastic body（7）Head and tail portion respectively to center extend,
And be not communicated with, it is located at same group of two longitudinal muscle air cavitys（3）Symmetrical distribution, two vulcanie pieces（4）It fixes respectively
In longitudinal muscle elastic body（7）Both ends, multiple metallic radial limitation rings（6）It is fixed on longitudinal muscle elastic body at equal intervals（7）It is outer
Wall.
2. according to claim 1 there is ring to indulge myo-architectonic pneumatic soft robot, it is characterised in that：The hard rubber
Film（4）Diameter and longitudinal muscle elastic body（7）Outer diameter it is identical.
3. according to claim 1 there is ring to indulge myo-architectonic pneumatic soft robot, it is characterised in that：The hard rubber
Film（4）On open there are two through-hole（2）, two longitudinal muscle air cavitys of the same end are corresponded to respectively（3）.
4. according to claim 1 there is ring to indulge myo-architectonic pneumatic soft robot, it is characterised in that：The longitudinal muscle bullet
Property main body（7）Using silicon rubber.
5. according to claim 1 there is ring to indulge myo-architectonic pneumatic soft robot, it is characterised in that：The circular muscle knot
Structure includes circular muscle elastic body（5）, three groups of friction foots（1）, three silica gel pieces（10）With three slide plates 11, the circular muscle elasticity master
Body（5）Center is equipped with central through hole, circular muscle elastic body（5）Including three rectangular stable blocks（5-1）With two tubular telescopic bodies
（5-2）, two tubular telescopic bodies（5-2）Connect three rectangular stable blocks（5-1）, circular muscle elastic body（5）Longitudinal muscle elasticity is led
Body（7）With metallic radial limitation ring（6）Package, and be connected, wherein two rectangular stable blocks positioned at end（5-1）End face with
Vulcanie piece（4）End face it is concordant, two groups of longitudinal muscle air cavitys（3）The centrally located rectangular stable block in end（5-1）It is interior,
Rectangular stable block（5-1）Groove type is at circular muscle air cavity there are one being opened upwards from bottom surface（8）, rectangular stable block（5-1）It is opened on side wall
There are one charge and discharge gas ports（9）, the charge and discharge gas port（9）With circular muscle air cavity（8）It communicates, rectangular stable block（5-1）Bottom surface front end
Be connected silica gel piece（10）, silica gel piece（10）By circular muscle air cavity（8）Opening covering, silica gel piece（10）Bottom surface is connected slide plate（11）,
Slide plate（11）Front end flips up；Friction foot（1）It is fixed on rectangular stable block（5-1）Bottom surface silica gel piece（10）Rear.
6. wanting described in 5 there is ring to indulge myo-architectonic pneumatic soft robot according to right, it is characterised in that：The circular muscle elasticity
Main body（5）It is integrally manufactured using silicon rubber.
7. wanting described in 5 there is ring to indulge myo-architectonic pneumatic soft robot according to right, it is characterised in that：The friction foot
（1）Bottom surface is equipped with multiple salient points.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810230781.1A CN108608420B (en) | 2018-03-20 | 2018-03-20 | Pneumatic soft robot with longitudinal muscle structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810230781.1A CN108608420B (en) | 2018-03-20 | 2018-03-20 | Pneumatic soft robot with longitudinal muscle structure |
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| CN108608420A true CN108608420A (en) | 2018-10-02 |
| CN108608420B CN108608420B (en) | 2021-06-11 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN110550121A (en) * | 2019-09-10 | 2019-12-10 | 华南理工大学 | Modular ground crawling soft robot |
| CN110587577A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN110588815A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Vacuum adsorption device applied to soft robot |
| CN111358665A (en) * | 2020-03-26 | 2020-07-03 | 南京鑫敬光电科技有限公司 | Soft driver and manufacturing method thereof |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN112629329A (en) * | 2020-12-07 | 2021-04-09 | 湖南翰坤实业有限公司 | Fighting robot |
| CN114670214A (en) * | 2022-02-24 | 2022-06-28 | 南京理工大学 | Pneumatic soft robot with self-sensing function |
| CN115122314A (en) * | 2022-07-29 | 2022-09-30 | 北京理工大学 | Multi-deformation-mode software driver |
| CN116922446A (en) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | Self-growing movable flexible mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN110587577B (en) * | 2019-08-22 | 2023-01-24 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN110587577A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN110588815A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Vacuum adsorption device applied to soft robot |
| CN110550121A (en) * | 2019-09-10 | 2019-12-10 | 华南理工大学 | Modular ground crawling soft robot |
| CN110550121B (en) * | 2019-09-10 | 2024-06-11 | 华南理工大学 | Modularized ground crawling soft robot |
| CN111358665A (en) * | 2020-03-26 | 2020-07-03 | 南京鑫敬光电科技有限公司 | Soft driver and manufacturing method thereof |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN111660286B (en) * | 2020-06-04 | 2022-05-17 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN112629329A (en) * | 2020-12-07 | 2021-04-09 | 湖南翰坤实业有限公司 | Fighting robot |
| CN114670214B (en) * | 2022-02-24 | 2023-09-05 | 南京理工大学 | Pneumatic soft robot with self-sensing function |
| CN114670214A (en) * | 2022-02-24 | 2022-06-28 | 南京理工大学 | Pneumatic soft robot with self-sensing function |
| CN115122314A (en) * | 2022-07-29 | 2022-09-30 | 北京理工大学 | Multi-deformation-mode software driver |
| CN116922446A (en) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | Self-growing movable flexible mechanical arm |
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