CN110900642A - Universal variable-rigidity soft actuator - Google Patents
Universal variable-rigidity soft actuator Download PDFInfo
- Publication number
- CN110900642A CN110900642A CN201911347915.9A CN201911347915A CN110900642A CN 110900642 A CN110900642 A CN 110900642A CN 201911347915 A CN201911347915 A CN 201911347915A CN 110900642 A CN110900642 A CN 110900642A
- Authority
- CN
- China
- Prior art keywords
- soft
- actuator
- shape memory
- memory alloy
- soft actuator
- 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
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 51
- 239000007788 liquid Substances 0.000 claims description 11
- 230000005284 excitation Effects 0.000 claims description 5
- 238000010438 heat treatment Methods 0.000 claims description 5
- 239000007779 soft material Substances 0.000 claims description 5
- 238000010146 3D printing Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009413 insulation Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 229920002595 Dielectric elastomer Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229920005839 ecoflex® Polymers 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000017 hydrogel Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
The invention relates to a universal variable-rigidity soft actuator which mainly comprises an insulating fixing device, a shape memory alloy wire supply device, a soft actuator body, a cavity and a corresponding control unit. The universal variable-stiffness soft actuator can realize the accurate deformation control and the attitude control adjustment of the actuator with multiple degrees of freedom, can realize the stiffness adjustment of the actuator, has the variable-stiffness characteristic, is simple to manufacture, has self-adaptability, can be suitable for end actuators of different soft robots, and can execute complex tasks under different working condition environments.
Description
The technical field is as follows:
the invention relates to the technical field of soft robots, in particular to the field of soft robot actuating mechanisms, and specifically relates to a universal variable-stiffness soft actuator.
Background art:
soft body materials possess many natural advantages due to their unique material properties, such as: flexibility, mobility, hysteresis etc. these advantages make soft body robot compare with traditional rigid robot, soft body robot is formed by soft material processing, and self can continuous deformation, can bend by a wide margin, twist and stretch out and draw back, has higher flexibility, security and adaptability. The robot has incomparable advantages in the aspects of man-machine interaction, complex fragile article grasping, narrow space operation and the like, but the advantages also bring the defects of slow response speed, low execution efficiency and the like to the soft robot. To solve these problems, more and more researchers are investing in the design research of software executors. Different material characteristics and suitable driving modes are combined, so that the software actuator with various characteristics can be designed and manufactured. In recent years, with the development and progress of material science, more and more soft materials with different properties are appeared, such as: rubber, elastomeric polymers, hydrogels, shape memory alloys, Ecoflex, dielectric elastomer materials, and the like. More and more software actuators and software robots are emerging, but at present, many problems exist in the research of the software actuators and the software robots, such as structure, material, modeling, feedback, control and the like.
The end effector is an important medium for connecting the robot and an operation object, and compared with the traditional rigid end effector, the soft end effector has the advantages of strong adaptability, high safety, light weight, low cost, high energy utilization rate and the like, so that the soft end effector is widely applied to loading, unloading and assembling of industrial products, military robots, agricultural robots and service robots, and has great research and application values.
At present, a great deal of research work is done by many scholars at home and abroad around the design and practical application fields of the soft robot and the soft actuator, and the development is good. However, the problems of single action, slow response and insufficient rigidity of the software actuator still exist, and the development of the software robot and the software actuator is greatly limited. Therefore, the software driver which has high adaptability, large grabbing force, multiple degrees of freedom, stronger rigidity and simple process is created, and has important practical significance.
In order to solve the problems, the application provides a universal variable-stiffness soft actuator.
The invention content is as follows:
it is an object of the present application to provide a universally applicable software actuator.
It is another object of the present application to provide a soft actuator that achieves variable stiffness.
In order to achieve the above purpose, the present application provides a universal variable stiffness soft actuator, which comprises an insulating fixing device, shape memory alloy wires, a supply device, a soft chamber and corresponding components, wherein the shape memory alloy wires are circumferentially arrayed and nested in a soft actuator body.
The shape memory alloy wire is made into a cylindrical shape with the diameter of 0.1-0.2 mm, the cylindrical shape is respectively embedded into the body structure of the soft actuator at equal intervals, and the shape memory alloy wire is folded back to form a loop.
The soft body actuator body is made of soft material, and a cavity is arranged in the body.
According to the universal variable-rigidity soft actuator, the driving mode is pneumatic or hydraulic and the shape memory alloy wire composite driving mode to achieve the universal characteristic and the variable rigidity characteristic of the soft actuator. When the shape memory alloy wires in different directions shrink by heating or the lengths of the shape memory alloy wires are restricted, the shape memory alloy wires at the position form a restriction layer of the whole soft actuator, the other side of the shape memory alloy wires is a deformation layer, and the actuator can deform towards the direction of the restriction layer when being excited by gas and liquid. The deformation attitude of the soft actuator can be accurately controlled by accurately controlling the 20 shape memory alloy wires, and the universal deformation characteristic and the rigidity adjustment characteristic of multiple degrees of freedom are realized.
Compared with the prior art, the invention has the following advantages:
the invention can realize the universal deformation control with multiple degrees of freedom. Through length constraint or heating shrinkage of the memory alloy at different positions, corresponding parts become constraint layers, and accurate control of deformation postures can be realized when the constraint layers are excited by gas and liquid.
The invention realizes the variable stiffness characteristic, and the variable stiffness characteristic of the soft actuator can be realized by adjusting the length constraint degree of the shape memory alloy wires of the constraint layer and the deformation layer.
The invention has self-adaptability.
The invention has simple and convenient manufacture.
The invention has the advantages of convenient carrying and wide working range, can be suitable for the end effectors of different soft robots, and can execute more complex tasks under different working condition environments.
Description of the drawings:
fig. 1 is a schematic overall structure diagram of a universal variable stiffness soft actuator.
FIG. 2 is a front view of a gimbaled variable stiffness soft actuator.
FIG. 3 is a sectional view taken along line A-A
FIG. 4 is an isometric view of section A-A
FIG. 5 shows an insulation fixing device
FIG. 6 shows an insulation fixing device and a shape memory alloy wire feeding device
FIG. 7 is an isometric view of a shape memory alloy
FIG. 8 is a numbering diagram of a shape memory alloy array
FIG. 9 is a diagram showing the deformation of the soft actuator
Icon: 1-shape memory alloy wire; 2-insulating fixing means and shape memory alloy wire feeding means; 3-a soft body actuator; 4-an insulating fixture; 5-an inlet; 6-an outlet; 7-Chamber
The specific implementation mode is as follows:
the present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention provides a universal variable-stiffness soft actuator, which is mainly composed of an insulating fixing device, a shape memory alloy wire supply device, a soft actuator body and a cavity as shown in figure 1.
As shown in fig. 2, 3 and 4, the body of the universal variable stiffness soft actuator provided by the invention is internally provided with a chamber, the chamber is connected with an inlet and an outlet, the body of the soft actuator is embedded with shape memory alloy wires in the circumferential direction, and two ends of the body are provided with an insulating fixing device and a shape memory alloy wire supply device.
The universal variable-rigidity soft actuator provided by the invention has the advantages that the soft actuator body is made of soft materials and can be manufactured through a mold and 3D printing.
As shown in fig. 5, the insulation fixing device of the soft actuator is made of insulation material, and the shape memory alloy wire passes through the insulation fixing device to form a loop.
As shown in fig. 6, the shape memory alloy wire supply device and the inlet and outlet of the soft actuator are made of insulating material, and the shape memory alloy wire passes through the shape memory alloy wire supply device and the inlet and outlet and is connected with the control unit.
As shown in fig. 7 and 8, the shape memory alloy wires are circumferentially arrayed and numbered schematically, and the attitude control and the rigidity adjustment of the soft actuator are realized by accurately controlling the shape memory alloy wires.
As shown in fig. 9, which is a schematic deformation diagram of the software actuator, the length of the shape memory alloy wire is constrained or controlled by heating shrinkage, a constraint layer of the software actuator is established, the corresponding side is a deformation layer, and the length of the shape memory alloy wire is not constrained. When the soft actuator is excited by gas and liquid, the soft actuator can bend and deform towards the direction of the restraint layer.
In the embodiment of the invention, the multi-degree-of-freedom universal deformation of the soft actuator can be realized by accurately controlling the shape memory alloy wires and the inlet and outlet of the circumferential array.
In the embodiment of the invention, the constraint layer is established by carrying out length constraint on the 1-5 shape memory alloy wires, and the other shape memory alloy wires are not subjected to length constraint, so that the soft actuator can be bent and deformed towards the constraint layer when being excited by gas and liquid; the constraint layer is established by carrying out length constraint on the 1-5 shape memory alloy wires, when other shape memory alloy wires carry out length constraint to a certain degree, the soft actuator can also bend and deform to the constraint layer when being excited by gas and liquid to a certain degree, but the overall rigidity of the soft actuator is increased, and when the 1-5 shape memory alloy wires carry out constraint to different lengths and carry out length constraint to other shape memory alloy wires to different degrees, the rigidity adjustment and the posture control of the soft actuator can be realized.
In the embodiment of the invention, the number of the shape memory alloy wires of the constraint layer is not unique, the number of the shape memory alloy wires of the deformation layer is not unique, the length constraint degrees can be different, the gas-liquid excitation degree can be adjusted, and the multi-degree-of-freedom universal deformation attitude control and the rigidity adjustment of the soft actuator can be realized by carrying out different-degree parameterization setting and adjustment on the gas-liquid excitation degree.
In the embodiment of the invention, the control unit can realize the length constraint control and the heating shrinkage accurate control of the shape memory alloy wire and also can realize the accurate control of the gas-liquid excitation magnitude, thereby realizing the functions of accurate control of the deformation posture and rigidity regulation of the soft actuator.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes, substitutions, modifications, combinations, and simplifications that can be easily made by those skilled in the art within the technical scope of the present invention are intended to be covered by the scope of the present invention.
Claims (7)
1. A universal variable-rigidity soft actuator is characterized in that: the shape memory alloy wire circumferential array embedded type soft actuator comprises a shape memory alloy wire, a soft actuator body, an insulating fixing device, a supply device and corresponding control units, wherein the shape memory alloy wire is embedded in the soft actuator body in a nesting mode, and the insulating fixing device, the shape memory alloy wire supply device, an inlet and an outlet and the corresponding control units are distributed at two ends.
2. The universally variable stiffness soft body actuator of claim 1, wherein: the soft body executor is a cylinder, and the central axis in the soft body executor has a cavity, and the shape and the size of the cavity are not unique.
3. The universally variable stiffness soft body actuator of claim 2, wherein: the shape memory alloy wires are embedded in the soft actuator body in a circumferential array mode, and when a certain number of shape memory alloy wires are restrained by lengths of corresponding degrees, a restraint layer is built; when other shape memory alloy wires are restrained by a certain length, a deformation layer is formed; at the moment, when the soft actuator is excited by gas and liquid to a certain degree, the soft actuator can be bent and deformed towards the direction of the constraint layer, so that the universal deformation characteristic and the variable stiffness characteristic of the soft actuator are realized.
4. A gimbaled, variable stiffness soft body actuator as defined in claim 3, wherein: when the soft actuator deforms to the constraint layer, the deformation posture of the soft actuator can be adjusted and accurately controlled by changing the length constraint of the shape memory alloy wire or changing the gas-liquid excitation size.
5. The universally variable stiffness soft body actuator of claim 2, wherein: the soft actuator body is made of soft materials through a mold or 3D printing, and the fixing devices at the two ends are hermetically bonded with the soft actuator body.
6. The universally variable stiffness soft body actuator of claim 1, wherein: the number of the shape memory alloy wires is not unique, and the shape memory alloy wires can be freely combined according to the size of the software actuator and the control precision.
7. The universally variable stiffness soft body actuator of claim 1, wherein: the control unit can realize the length constraint control and the heating shrinkage accurate control of the shape memory alloy wire and also can realize the accurate control of the gas-liquid excitation magnitude, thereby realizing the functions of the accurate control of the deformation posture and the rigidity regulation of the soft actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911347915.9A CN110900642A (en) | 2019-12-24 | 2019-12-24 | Universal variable-rigidity soft actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911347915.9A CN110900642A (en) | 2019-12-24 | 2019-12-24 | Universal variable-rigidity soft actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110900642A true CN110900642A (en) | 2020-03-24 |
Family
ID=69827398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911347915.9A Pending CN110900642A (en) | 2019-12-24 | 2019-12-24 | Universal variable-rigidity soft actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110900642A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050212630A1 (en) * | 2004-03-26 | 2005-09-29 | The Regents Of The University Of California | Shape memory system with integrated actuation using embedded particles |
| US20120017583A1 (en) * | 2010-07-22 | 2012-01-26 | University Of Houston | Shape memory alloy powered hydraulic accumulator having actuation plates |
| US20130167683A1 (en) * | 2010-09-16 | 2013-07-04 | Matteo Cianchetti | Bio-inspired continuous robotic limb |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN107225566A (en) * | 2017-06-16 | 2017-10-03 | 广东工业大学 | The software module of two-way shape memory alloy driving |
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN108045448A (en) * | 2017-12-05 | 2018-05-18 | 北京航空航天大学 | A kind of memory alloy driven multi-modal robot |
| CN109955275A (en) * | 2019-03-20 | 2019-07-02 | 中国地质大学（武汉） | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
| CN209682208U (en) * | 2019-04-10 | 2019-11-26 | 郑州大学 | Gas, line combination drive software mechanical arm |
| CN110576447A (en) * | 2019-09-10 | 2019-12-17 | 大连理工大学 | electric control bidirectional bending type deformation-variable rigidity integrated driver |
| CN211806189U (en) * | 2019-12-24 | 2020-10-30 | 东北林业大学 | Universal variable-rigidity soft actuator |
-
2019
- 2019-12-24 CN CN201911347915.9A patent/CN110900642A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050212630A1 (en) * | 2004-03-26 | 2005-09-29 | The Regents Of The University Of California | Shape memory system with integrated actuation using embedded particles |
| US20120017583A1 (en) * | 2010-07-22 | 2012-01-26 | University Of Houston | Shape memory alloy powered hydraulic accumulator having actuation plates |
| US20130167683A1 (en) * | 2010-09-16 | 2013-07-04 | Matteo Cianchetti | Bio-inspired continuous robotic limb |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN107225566A (en) * | 2017-06-16 | 2017-10-03 | 广东工业大学 | The software module of two-way shape memory alloy driving |
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN108045448A (en) * | 2017-12-05 | 2018-05-18 | 北京航空航天大学 | A kind of memory alloy driven multi-modal robot |
| CN109955275A (en) * | 2019-03-20 | 2019-07-02 | 中国地质大学（武汉） | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
| CN209682208U (en) * | 2019-04-10 | 2019-11-26 | 郑州大学 | Gas, line combination drive software mechanical arm |
| CN110576447A (en) * | 2019-09-10 | 2019-12-17 | 大连理工大学 | electric control bidirectional bending type deformation-variable rigidity integrated driver |
| CN211806189U (en) * | 2019-12-24 | 2020-10-30 | 东北林业大学 | Universal variable-rigidity soft actuator |
Non-Patent Citations (1)
| Title |
|---|
| 金英连 等: "形状记忆合金丝编织网气动肌肉机构及其阻抗控制", 控制与决策, vol. 26, no. 10, pages 1577 - 1585 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Yan et al. | A new spiral-type inflatable pure torsional soft actuator | |
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| US8863608B2 (en) | Fluid-operated manipulator | |
| Rader et al. | Design of a high-performance humanoid dual arm system with inner shoulder joints | |
| Chen et al. | Soft origami gripper with variable effective length | |
| CN109940645B (en) | Thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand | |
| Tang et al. | Design of a new air pressure perception multi-cavity pneumatic-driven earthworm-like soft robot | |
| Chen et al. | Design and modeling of an extensible soft robotic arm | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN211806189U (en) | Universal variable-rigidity soft actuator | |
| Chen et al. | A robotic manipulator design with novel soft actuators | |
| Zolfagharian et al. | A bioinspired compliant 3D-printed soft gripper | |
| Liu et al. | A modular manipulator for industrial applications: Design and implement | |
| Jin et al. | Synthesis of 3-[P][S] parallel mechanism-inspired multimode dexterous hands with parallel finger structure | |
| CN109955275B (en) | Thermal expansion fluid composite special-shaped cavity driving type robot soft hand | |
| Jiang et al. | Design and motion analysis of adjustable pneumatic soft manipulator for grasping objects | |
| Wang et al. | Kinematic performance analysis and promotion of a spatial 3-RPaS parallel manipulator with multiple actuation modes | |
| Zanganeh et al. | Mobility and position analyses of a novel redundant parallel manipulator | |
| CN110900642A (en) | Universal variable-rigidity soft actuator | |
| Klas et al. | A compact, lightweight and singularity-free wrist joint mechanism for humanoid robots | |
| Gogu | Singularity-free fully-isotropic parallel manipulators with Schonflies motions | |
| CN211761540U (en) | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom | |
| CN111085989A (en) | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom | |
| CN113787520B (en) | Method for establishing model of motion angle and input air pressure of soft glove | |
| US20220072700A1 (en) | Utilizing soft actuated inflatable robotics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |