CN108790178B - Programmable control-based design method for soft actuator - Google Patents
Programmable control-based design method for soft actuator Download PDFInfo
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- CN108790178B CN108790178B CN201810632906.3A CN201810632906A CN108790178B CN 108790178 B CN108790178 B CN 108790178B CN 201810632906 A CN201810632906 A CN 201810632906A CN 108790178 B CN108790178 B CN 108790178B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/379—Handling of additively manufactured objects, e.g. using robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
Abstract
The invention discloses a design method of a soft actuator based on programmable control, which comprises the following steps: (1) constructing a filamentous quadrangular model diagram by using three-dimensional drawing software; (2) according to the constructed model diagram, different flexible materials are adopted, and the 3D printing technology is combined for printing in a segmented mode, so that a single quadrangular prism-shaped fiber is obtained; the fiber is divided into an inner layer and an outer layer, wherein the outer layer is formed by surrounding a flexible light source with programmable brightness control, and a strip-shaped flexible strain material is embedded in each edge; the inner fiber layer is made of flexible photosensitive material; (3) continuously printing a plurality of same quadrangular prism-shaped fibers; (4) and (3) combining and processing all the quadrangular prism-shaped fibers to build an actuator tissue to obtain the final programmable actuator with soft deformation capability. The invention can effectively solve the problem of ordered programming control of the soft actuator, and can realize the combination control by connecting and combining after realizing the programming function, thereby realizing the control of the actuator organization to finish multiple degrees of freedom.
Description
Technical Field
The invention relates to the field of software bionic robots and artificial intelligence, in particular to a design method of a software actuator based on programmable control.
Background
At present, the research stage of the soft robot is in the initial stage, and many countries pay more attention to the research. However, due to the complexity and diversity of biological movements, various research institutes or scholars propose various ways to realize actuation, so it can be said that the driving way of the soft robot will affect the functional structure and even the stability thereof. The current driving modes such as pneumatic hydraulic control, electroactive polymers, shape memory alloys, chemical driving and the like are difficult to realize the precise programmable control of the actuator and also difficult to meet the requirements of realizing general preparation and wide-range use.
The research of the soft robot needs to integrate knowledge in many fields of physics, chemistry, biology, materials, manufacturing, computers and the like, and has a long distance from practical application. However, with the continuous progress of manufacturing technology, material technology and artificial intelligence technology, the research of software robot theory and technology is also going deeper. At present, research focuses on several fields such as development of novel soft materials, production, manufacture and application of novel actuators, and morphological control of soft robots, among which, the design of actuators of soft robots is an important aspect, and how to combine knowledge in all aspects to construct a flexible and easy-to-use actuator with strong adaptability and convenient maintenance becomes a technical problem of first attack.
Disclosure of Invention
The invention aims to provide a design method of a soft actuator based on programmable control, which can solve the problem of ordered programming control of the soft actuator, can realize combination control by connecting and combining after realizing a programming function, and further realizes the control of an actuator organization to finish multiple degrees of freedom.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the design method of the soft actuator based on programmable control comprises the following steps:
(1) constructing a filamentous quadrangular model diagram by using three-dimensional drawing software;
(2) according to the constructed model diagram, different flexible materials are adopted, and a 3D printing technology is combined for printing in a segmented mode to obtain an actual model, namely a single quadrangular prism-shaped fiber; the fiber is divided into an inner layer and an outer layer, wherein the outer layer is formed by surrounding a flexible light source with programmable brightness control, and a strip-shaped flexible strain material is embedded in each edge; the inner fiber layer is made of flexible photosensitive material;
(3) continuously printing a plurality of same quadrangular prism-shaped fibers;
(4) and (3) combining and processing all the quadrangular prism-shaped fibers to build an actuator tissue to obtain the final programmable actuator with soft deformation capability.
In order to prevent light leakage of a light source on a single quadrangular prism-shaped fiber and influence other quadrangular prism-shaped fibers, after the quadrangular prism-shaped fibers are printed, a light-leakage-preventing non-transparent coating thin layer is coated on the outer layer of the quadrangular prism-shaped fibers.
Preferably, the flexible photosensitive material is a light-controlled hydrogel.
Furthermore, a plurality of support frames used for ensuring the stable structure of the model and facilitating the mutual connection of the quadrangular prism-shaped fibers are distributed in the inner layer of the fibers at intervals, and the support frames, together with the outer layer and the inner layer, are printed out through a 3D printing technology.
Furthermore, a flexible tensile filament hose for penetrating cooling or heat preservation liquid to maintain temperature balance in the fiber is arranged in the inner layer of the fiber; when printing, the flexible tensile filament hose is positioned, and then the outer layer, the inner layer and the support frame of the fiber are printed out by surrounding the flexible tensile filament hose.
The design principle of the invention is that a fibrous quadrangular prism model is designed, then a plurality of flexible materials are utilized to combine with the modern 3D printing technology to obtain a single quadrangular prism fiber, a plurality of quadrangular prism fibers are continuously printed in the same mode, finally all quadrangular prism fibers are combined and processed to build an actuator tissue to obtain a soft actuator, and the soft actuator can adjust the extension and contraction of corresponding flexible photosensitive materials by controlling the brightness and darkness of flexible light sources in certain fibers at different positions under the coordination of a hardware base to realize the bending of the soft actuator and other auxiliary flexible materials, thereby combining the bending of a plurality of fibers at different degrees and controlling the soft actuator to generate different forms.
Compared with the prior art, the invention has the following beneficial effects:
(1) the programmable soft actuator can be constructed by subdividing the actuator tissue into a plurality of fibers with quadrangular prism structures and then combining and superposing the fibers. The soft actuator designed by the invention can realize that the actuator generates different forms by utilizing the programmable control of the tiny deformation of the fiber on the soft actuator (the deformation is realized by the cooperation of the light source and the photosensitive material), therefore, the soft actuator constructs the fiber by utilizing different flexible materials and adopts a fibrous combined actuation mode, thereby well breaking through the limitation of the traditional single flexible material integral control mode, and having the advantages of simple control, convenient construction of complex forms and easy realization of complex form control.
(2) The binding force required by the form change of the soft actuator designed by the invention is generated from inside to outside, so that the soft actuator is closer to the muscle structure mode of an organism, can be well combined with a bionic biological skeleton, realizes the biological structure of a soft actuator control skeleton, and can show the advantage of fine control compared with the traditional integral actuator design.
(3) The invention provides a thought for realizing manual ordered control in the software actuation process, and meanwhile, the algorithm required by the invention is simple, the manufacture is simple and easy, and the method can be effectively applied to the design of software actuators with different shapes, such as snake-shaped robots.
(4) The supporting frames are distributed in the fibers at intervals, so that the stability of the quadrangular prism structure can be ensured, and convenience can be provided for the connection of the fibers.
(5) The invention also designs a flexible tensile filament hose in the fiber, which can be combined with a miniature compression reflux circulating device and is filled with cooling or heat-insulating liquid, thereby maintaining the temperature balance in the fiber and facilitating the use of the fiber in a larger temperature variation range.
(6) The invention utilizes a plurality of soft materials to combine with the modern processing and manufacturing method to form the actuator with soft deformation capability, thereby not only being flexible and easy to use, strong in adaptability and convenient to maintain, but also being used for computer program control, therefore, the invention is suitable for large-scale popularization and application, in particular to the aspects of rescue and nuclear retirement pipeline equipment.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
FIG. 2 is a schematic cross-sectional view of a quadrangular prism fiber designed by the method of the present invention.
FIG. 3 is a schematic view of a bend in a quadrangular prism fiber.
Fig. 4 is a diagram illustrating an application example of the present invention.
Wherein, the names corresponding to the reference numbers are:
1-flexible light source, 2-photosensitive material, 3-flexible strain material, 4-support frame, and 5-flexible tensile filament hose.
Detailed Description
The present invention will be further described with reference to the following description and examples, which include but are not limited to the following examples.
The invention provides a design method of a soft actuator based on programmable control, which is characterized in that the soft actuator is subdivided into a plurality of fibers with programmable control deformation, and the micro deformation of the fibers is utilized to cause the overall shape change of the actuator. As shown in fig. 1, the scheme of the present invention is as follows:
firstly, a fiber filament quadrangular prism model map, namely a model map of a single fiber is constructed by using three-dimensional drawing software (such as solidworks, UG and the like).
According to the constructed model diagram, different flexible materials are adopted, and the 3D printing technology is combined for printing in a segmented mode, so that an actual model, namely a single quadrangular prism-shaped fiber is obtained. Before the fiber is manufactured, an analog simulation test can be performed according to the built model to obtain and record simulated data.
The fiber in the embodiment is divided into an inner layer and an outer layer, wherein the outer layer is formed by surrounding a flexible light source with programmable brightness control, and a strip-shaped flexible strain material (such as a flexible strain sheet which can quantitatively reflect the size and degree of strain of the fibrous prism in a certain direction) is embedded in each edge; the inner fiber layer is made of flexible photosensitive material; meanwhile, a plurality of support frames are distributed in the inner layer at intervals, the support frames are printed together with the outer layer and the inner layer and used for ensuring the stable structure of the model, and a flexible tensile filament hose is arranged in the inner layer and used for communicating cooling or heat preservation liquid to maintain the temperature balance in the fiber. When printing, the flexible tensile filament hose is positioned, and then the outer layer, the inner layer and the support frame of the fiber are printed out by surrounding the flexible tensile filament hose.
Fig. 2 shows a schematic structural diagram of a fiber, on which a flexible light source 1, a photosensitive material 2, a flexible strain material 3, a support frame 4 and a flexible tensile filament hose 5 are arranged.
After obtaining the quadrangular prism-shaped fibers, testing the quadrangular prism-shaped fibers, specifically: at a fixed temperature (the temperature can be maintained by introducing liquid through the flexible tensile filament hose), the flexible light source is controlled to emit light with different brightness in a programming mode, and then data such as corresponding strain, generated acting force and deformation of the flexible photosensitive material are measured. For example, the fiber shown in fig. 3, given only a certain illumination intensity of the right-hand light source, the degree of bending is certain at a certain temperature, wherein it can be seen that the middle flexible filament tube is deflected together with the material. The opposite, other side light source is not deflected if it is given the same brightness.
And comparing the measured data with the simulation data, adjusting the simulation data, and then optimizing the filamentous quadrangular model. Then, several identical quadrangular-prism-shaped fibers were printed in the above-described manner. And finally, combining and processing all the quadrangular prism-shaped fibers, and building (orderly collecting in space) an actuator tissue to obtain the final programmable actuator with soft deformation capability. If the actuator does not meet the actual requirements, the fiber filament quadrangular model can be adjusted, then a single quadrangular prism fiber is printed for testing, and simulation data are adjusted.
In addition, in order to avoid the influence of the illumination of other fiber outer layers on the fibers, a light-leakage-preventing non-transparent coating thin layer can be coated on the fiber outer layers.
After the actuators are obtained, they are combined with the corresponding robot motion sites and then test runs are performed. The control of the programmable soft actuator can be described with reference to fig. 4, in which the partial cross-section of the soft actuator is schematically shown at the upper right corner, and the single programmable control soft fiber is arranged in order and tightly. And clustering each fiber by using an artificial neural network algorithm to enable the whole fiber to be bent and stretched towards a certain specific direction, so as to promote resultant force. If the V-shaped structure is formed, the upper actuator is required to be bent upwards to contract, and the lower actuator is required to relax. If the inverted V-shape is formed, the lower actuator is required to be bent downward to contract, and the upper actuator is required to relax.
The invention skillfully designs fibers made of different flexible materials, controls the brightness of the flexible light source by a programming mode, and realizes the micro deformation of fiber tissues by combining the characteristics of the flexible photosensitive material, thereby expanding the change of the integral shape of the actuator. By the design, the actuator can be well connected with the framework structure, and the soft actuator can control the biological structure of the framework, such as forming soft controllable muscle tissues, snake-shaped robots and the like. The method and the device have the advantages that the limitation of the prior art is well broken through, innovation is realized, the trend of technological development is complied with, and compared with the prior art, the method and the device are obvious in technical progress, and have prominent substantive characteristics and remarkable progress.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or changes made within the spirit and scope of the main design of the present invention, which still solve the technical problems consistent with the present invention, should be included in the scope of the present invention.
Claims (5)
1. The design method of the soft actuator based on the programmable control is characterized by comprising the following steps:
(1) constructing a filamentous quadrangular model diagram by using three-dimensional drawing software;
(2) according to the constructed model diagram, different flexible materials are adopted, and a 3D printing technology is combined for printing in a segmented mode to obtain an actual model, namely a single quadrangular prism-shaped fiber; the fiber is divided into an inner layer and an outer layer, wherein the outer layer is formed by surrounding a flexible light source with programmable brightness control, and a strip-shaped flexible strain material is embedded in each edge; the inner fiber layer is made of flexible photosensitive material;
(3) continuously printing a plurality of same quadrangular prism-shaped fibers;
(4) and (3) combining and processing all the quadrangular prism-shaped fibers to build an actuator tissue to obtain the final programmable actuator with soft deformation capability.
2. The method for designing a soft actuator based on programmable control of claim 1, wherein the quadrangular prism-shaped fibers are printed and then coated with a thin layer of light-leak-proof opaque paint.
3. The method as claimed in claim 2, wherein the flexible photosensitive material is a light-controlled hydrogel.
4. The design method of soft actuator based on programmable control according to claim 2 or 3, wherein a plurality of supporting frames for ensuring the stable structure of the model and facilitating the connection of quadrangular prism-shaped fibers are distributed at intervals in the inner layer of the fibers, and are printed out together with the outer layer and the inner layer by 3D printing technology.
5. The method for designing soft actuator based on programmable control of claim 4, wherein the inner layer of the fiber has a flexible tensile filament hose for passing through cooling or warming liquid to maintain temperature balance in the fiber; when printing, the flexible tensile filament hose is positioned, and then the outer layer, the inner layer and the support frame of the fiber are printed out by surrounding the flexible tensile filament hose.
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| CN201810632906.3A CN108790178B (en) | 2018-06-20 | 2018-06-20 | Programmable control-based design method for soft actuator |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100220684B1 (en) * | 1996-08-30 | 1999-09-15 | 전주범 | Metallic layer patterning method for thin film actuated mirror array |
| WO2017127497A1 (en) * | 2016-01-19 | 2017-07-27 | President And Fellows Of Harvard College | Soft robotic actuators and grippers |
| CN207014787U (en) * | 2017-06-22 | 2018-02-16 | 歌尔科技有限公司 | 3d printer |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
| CN107914269A (en) * | 2016-10-09 | 2018-04-17 | 中国科学技术大学 | A kind of soft robot based on honeycomb pneumatic network |
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2018
- 2018-06-20 CN CN201810632906.3A patent/CN108790178B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100220684B1 (en) * | 1996-08-30 | 1999-09-15 | 전주범 | Metallic layer patterning method for thin film actuated mirror array |
| WO2017127497A1 (en) * | 2016-01-19 | 2017-07-27 | President And Fellows Of Harvard College | Soft robotic actuators and grippers |
| CN107914269A (en) * | 2016-10-09 | 2018-04-17 | 中国科学技术大学 | A kind of soft robot based on honeycomb pneumatic network |
| CN207014787U (en) * | 2017-06-22 | 2018-02-16 | 歌尔科技有限公司 | 3d printer |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
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| CN108790178A (en) | 2018-11-13 |
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