CN111203864A - McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity - Google Patents
McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity Download PDFInfo
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- CN111203864A CN111203864A CN202010044456.3A CN202010044456A CN111203864A CN 111203864 A CN111203864 A CN 111203864A CN 202010044456 A CN202010044456 A CN 202010044456A CN 111203864 A CN111203864 A CN 111203864A
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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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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
A McKibben thin-diameter soft continuum mechanical arm based on position variable rigidity comprises internal muscles, peripheral muscles, pull ropes and connecting modules, wherein the connecting modules are uniformly distributed at equal intervals along the length of the internal muscles; a plurality of internal muscles which are arranged circumferentially penetrate through the central hole, two groups of peripheral muscles penetrate through the first through hole, and a plurality of pull ropes penetrate through the second through hole; the connecting module is fixedly connected with the internal and peripheral muscles, the tail ends of the internal muscles and the peripheral muscles are sealed, the head ends of the internal muscles and the peripheral muscles are communicated with the external inflation valve respectively, and the tail ends of the pull ropes are fixedly connected with the tail end connecting module. The invention not only has light weight and good flexibility, but also can change the rigidity at a fixed position, thereby effectively solving the technical problems of the existing soft continuum mechanical arm.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a position-variable-rigidity-based McKibben small-diameter soft continuous body mechanical arm which is light in weight, good in flexibility and capable of changing rigidity at a fixed position.
Background
The soft continuum mechanical arm is an important branch of a soft robot system, is different from a traditional mechanical arm system driven by a motor gear, is made of a flexible material, can simulate a soft biological antenna, such as a nose, a snake and the like, and has a class of operating devices with the functions of large deformability, high flexibility, variable rigidity and the like.
The mechanical arm has wider application range, has wide development potential in the aspects of industrial production, aerospace, medical service, disaster relief and exploration and the like, and can be more suitable for complex non-structural environments; mainly because the soft continuum robot arm is able to adapt to the operational objective using the properties of its own materials rather than relying on a complex control system. Another important feature of a soft continuum mechanical arm is that it is light and flexible, which is one of the main requirements in the event of a collision. In addition, how to simulate the delicate muscle function in an animal body, designing a muscle driving system capable of changing the stiffness at a fixed point is also one of the challenges facing the soft continuous body mechanical arm technology.
In recent years, researchers have conducted extensive research into the above challenges and developed a series of soft robotic arms. For example: the device comprises an octopus mechanical arm driven by a cable, a continuum mechanical arm based on a planar spring, a light octopus mechanical arm based on SMA (shape memory alloy), a pneumatic light soft continuum mechanical arm combining a contraction muscle and an expansion muscle and the like. The mechanical arms have the capability of changing rigidity while having continuity and flexibility.
Disclosure of Invention
The invention aims to solve the technical problem of providing a position-variable-rigidity-based McKibben small-diameter soft continuum mechanical arm which is light in weight, good in flexibility and capable of changing rigidity at a fixed position, so that the technical problem of the existing soft continuum mechanical arm is effectively solved.
The technical scheme includes that the McKibben small-diameter soft continuum mechanical arm with the following structure based on position variable rigidity comprises internal muscles, peripheral muscles, a pull rope and connecting modules, wherein the axes of the internal muscles, the peripheral muscles and the pull rope are parallel, the internal muscles and the peripheral muscles are all rubber tubes, the connecting modules are provided with a plurality of connecting modules and are uniformly distributed at equal intervals along the length direction of the internal muscles, a central hole for the internal muscles to penetrate through is formed in the middle position of each connecting module, a first through hole for the peripheral muscles to penetrate through and a second through hole for the pull rope to penetrate through are formed in the edge of each connecting module from inside to outside along the radial direction, and the first through hole and the second through hole are provided with a plurality of connecting modules and are uniformly distributed at equal intervals along the circumference of the connecting modules; the internal muscles are circumferentially arranged and sequentially penetrate through central holes of the connecting modules, the peripheral muscles are provided with a plurality of groups of two muscles and sequentially penetrate through first through holes of the connecting modules, and the pull ropes are provided with a plurality of groups of two muscles and sequentially penetrate through second through holes of the connecting modules; each connecting module is fixedly connected with internal muscles and peripheral muscles, the tail ends of the internal muscles and the peripheral muscles are sealed, the head ends of the internal muscles and the peripheral muscles are communicated with an external inflation valve respectively, and the tail ends of the pull ropes are fixedly connected with the tail end connecting module.
The McKibben small-diameter soft continuous body mechanical arm based on position variable rigidity is characterized in that the connecting module is of a disc-shaped structure and is made of super-elastic silica gel.
The McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity is characterized in that the inner diameter of the inner muscle is 0.86mm, the outer diameter of the inner muscle is 1.3mm, and the inner diameter of the peripheral muscle is 1.28mm, and the outer diameter of the peripheral muscle is 2 mm.
The McKibben small-diameter soft continuous body mechanical arm based on position variable rigidity is characterized in that the outer wall of the inner muscle is wrapped with a fiber woven sleeve I with the outer diameter of 1.8mm, and the outer wall of the peripheral muscle is wrapped with a fiber woven sleeve II with the outer diameter of 2.6 mm.
The McKibben small-diameter soft continuous body mechanical arm based on position variable rigidity is characterized in that the pull rope is made of Kevlar fiber materials, and the diameter of the pull rope is 0.4 mm.
The McKibben small-diameter soft continuous body mechanical arm based on position variable rigidity, disclosed by the invention, is characterized in that the length of the internal muscle is 1.25 times of that of the peripheral muscle.
After the structure is adopted, compared with the prior art, the McKibben small-diameter soft continuous body mechanical arm based on position variable rigidity has the following advantages: the invention adopts a structure comprising internal muscles, peripheral muscles, pull ropes and connecting modules, wherein the middle position of each connecting module is provided with a central hole for the internal muscles to pass through, the edge is respectively provided with a first through hole for the peripheral muscles to pass through and a second through hole for the pull ropes to pass through from inside to outside along the radial direction, the first through holes and the second through holes are uniformly distributed along the circumference of the connecting module at equal intervals, a plurality of internal muscles arranged along the circumference are sequentially penetrated in the central holes of the connecting modules, a plurality of two groups of peripheral muscles are sequentially penetrated in the first through holes of the connecting modules, and a plurality of pull ropes are sequentially penetrated in the second through holes of the connecting modules, thereby realizing the serial connection of the connecting modules, further regulating the rigidity of the mechanical arm by changing the gas pressure in the internal muscles when in use, bending the mechanical arm by changing the gas pressure in the peripheral muscles, the strong biological muscle driving system is effectively simulated and formed, and the biological muscle driving system has the advantages of light weight, good flexibility, capability of changing the rigidity at a fixed position and large rigidity change range.
Drawings
FIG. 1 is a three-dimensional structure diagram of a McKibben thin-diameter soft continuum mechanical arm based on position variable rigidity;
FIG. 2 is an enlarged view of the top of FIG. 1;
FIG. 3 is an enlarged perspective view of the connection module of FIG. 1;
FIG. 4 is an enlarged partial block diagram of the internal muscles of FIG. 1;
fig. 5 is a partially enlarged structural view of the peripheral muscle in fig. 1.
Detailed Description
The McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity is further explained in detail by combining the attached drawings and the detailed embodiment:
in the embodiment, as shown in fig. 1 and fig. 2, the McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity comprises an inner muscle 10, a peripheral muscle 11, a pull rope 12 and a connecting module 13, wherein the axes of the inner muscle 10, the peripheral muscle 11 and the pull rope 12 are parallel, and the inner muscle 10 and the peripheral muscle 11 are both rubber tubes.
The connection modules 13 are six in number and are evenly distributed at equal intervals along the length direction of the inner muscle 10. Referring to fig. 3, a central hole 131 for the inner muscle 10 to pass through is formed in the middle of each connecting module 13; the edge of each connecting module 13 is provided with a first through hole 132 for the peripheral muscle 11 to pass through and a second through hole 133 for the pull rope 12 to pass through from inside to outside along the radial direction. The number of the first through holes 132 and the number of the second through holes 133 are three and are uniformly distributed along the circumference of the connection module 13 at equal intervals.
The internal muscles 10 are provided with six, are arranged circumferentially and sequentially penetrate through the central holes 131 of the six connecting modules 13; the peripheral muscles 11 are divided into six groups, two groups and three groups; the three groups of peripheral muscles 11 are sequentially arranged in the first through holes 132 of the six connecting modules 13 in a penetrating manner; three pull ropes 12 are sequentially arranged in the second through holes 133 of the six connecting modules 13 in a penetrating manner, so that the six connecting modules 13 are connected in series.
Each connecting module 13 is fixedly connected with the internal muscles 10 and the peripheral muscles 11 through glue; the ends of each of the internal muscle 10 and the peripheral muscle 11 are sealed to ensure airtightness. The head ends of the internal muscles 10 and the peripheral muscles 11 are respectively communicated with an external inflation valve, and the two peripheral muscles 11 of each group share one inflation valve and can be independently controlled; the six internal muscles 10 share a common inflation valve. After the gas is filled into the internal muscle 10, the internal muscle 10 generates radial expansion and axial contraction, and meanwhile, the rigidity is increased; in order to avoid such a change affecting the peripheral muscle 11 during operation, the length of the internal muscle 10 is designed to be 1.25 times the length of the peripheral muscle 11. The tail end of each pull rope 12 is fixedly connected with the tail end connecting module, and the pull ropes 12 are made of Kevlar fiber materials and have the diameter of 0.4 mm.
The stiffness of the mechanical arm can be adjusted by changing the gas pressure in the internal muscle 10; the mechanical arm can be bent by changing the gas pressure in the peripheral muscle 11, and the rigidity value of the bent side is adjusted; the bending angle of the mechanical arm can be increased by increasing the tension of the pull rope 12, and decoupling of the rigidity of the mechanical arm and the tail end position is achieved.
The connecting module 13 is designed into a disc-shaped structure and made of super-elastic silica gel, so that the flexibility of the mechanical arm is improved.
The inner diameter of the inner muscle 10 is 0.86mm and the outer diameter is 1.3 mm; the peripheral muscle 11 has an inner diameter of 1.28mm and an outer diameter of 2 mm. With reference to fig. 4 and 5, the outer wall of the inner muscle 10 is wrapped with a fiber woven sleeve i 101 with an outer diameter of 1.8mm, and the outer wall of the peripheral muscle 11 is wrapped with a fiber woven sleeve ii 111 with an outer diameter of 2.6mm, so as to play a role in protection.
The novel McKibben small-diameter pneumatic muscle with the diameters of 2mm and 1.3mm can effectively imitate and form a strong biological muscle driving system, and has the advantages of light weight, good flexibility, capability of changing the rigidity at a fixed position and large rigidity change range.
After the air is filled into the rubber tube, the rubber tube generates radial expansion and axial contraction, and the rubber tube stops deforming when the braided sleeve reaches the limit, so that the contraction motion can be realized by adjusting the air pressure, and the contraction force is generated. When the entire length of the robot arm is not changed, the rigidity of the robot arm can be adjusted by changing the pressure of gas in the internal muscle 10, and the robot arm can be bent by changing the pressure of gas in the peripheral muscle 11 while adjusting the rigidity value of the bent side.
After the structure design, compared with the existing soft continuum mechanical arm, the invention has the following substantive characteristics and advantages:
1. the rigidity of the mechanical arm can be changed independently of the position of the tail end under any curvature by using pneumatic muscles with different specifications;
2. the McKibben small-diameter pneumatic muscle with light weight and high flexibility is adopted, so that the safe interaction capacity and compliance of the mechanical arm are effectively improved;
3. the operation is simple and the cost is low.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention by those skilled in the art should fall within the protection scope of the present invention without departing from the design spirit of the present invention.
Claims (6)
1. A McKibben thin-diameter soft continuum mechanical arm based on position variable rigidity is characterized in that: comprises an internal muscle (10), a peripheral muscle (11), a pull rope (12) and a connecting module (13), the axes of the internal muscle (10), the peripheral muscle (11) and the pull rope (12) are parallel, the internal muscle (10) and the peripheral muscle (11) are both rubber tubes, a plurality of connecting modules (13) are arranged, and are evenly distributed along the length direction of the internal muscles (10) at equal intervals, the middle position of each connecting module (13) is provided with a central hole (131) for the internal muscles (10) to pass through, the edge of each connecting module (13) is respectively provided with a first through hole (132) for the peripheral muscles (11) to pass through and a second through hole (133) for the pull rope (12) to pass through from inside to outside along the radial direction, the first through holes (132) and the second through holes (133) are uniformly distributed along the circumference of the connecting module (13) at equal intervals;
the internal muscles (10) are circumferentially arranged and sequentially penetrate through central holes (131) of the connecting modules (13), the peripheral muscles (11) are provided with a plurality of groups of two muscles, the two muscles are sequentially penetrated through first through holes (132) of the connecting modules (13), and the pull ropes (12) are provided with a plurality of muscles and sequentially penetrate through second through holes (133) of the connecting modules (13);
each connecting module (13) is fixedly connected with the internal muscles (10) and the peripheral muscles (11), the tail ends of the internal muscles (10) and the peripheral muscles (11) are sealed, the head ends of the internal muscles (10) and the peripheral muscles (11) are respectively communicated with an external inflation valve, and the tail ends of the pull ropes (12) are fixedly connected with the tail end connecting modules.
2. The McKibben small-diameter soft continuous mechanical arm based on position variable rigidity according to claim 1, wherein: the connecting module (13) is of a disc-shaped structure and is made of super-elastic silica gel.
3. The McKibben small-diameter soft continuous mechanical arm based on position variable rigidity according to claim 1, wherein: the inner diameter of the inner muscle (10) is 0.86mm, the outer diameter is 1.3mm, and the inner diameter of the peripheral muscle (11) is 1.28mm, and the outer diameter is 2 mm.
4. The McKibben small-diameter soft continuous mechanical arm based on position variable rigidity according to claim 3, wherein: the outer wall of the internal muscle (10) is wrapped with a fiber woven sleeve I (101) with the outer diameter of 1.8mm, and the outer wall of the peripheral muscle (11) is wrapped with a fiber woven sleeve II (111) with the outer diameter of 2.6 mm.
5. The McKibben small-diameter soft continuous mechanical arm based on position variable rigidity according to claim 1, wherein: the pull rope (12) is made of Kevlar fiber materials, and the diameter of the pull rope is 0.4 mm.
6. The McKibben small-diameter soft continuous mechanical arm based on position variable rigidity according to any one of claims 1 to 5, wherein: the length of the internal muscle (10) is 1.25 times the length of the peripheral muscle (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010044456.3A CN111203864A (en) | 2020-01-16 | 2020-01-16 | McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity |
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| CN202010044456.3A CN111203864A (en) | 2020-01-16 | 2020-01-16 | McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity |
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Cited By (2)
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| CN114367967A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscles and super-elastic rods |
| CN114770484A (en) * | 2022-05-19 | 2022-07-22 | 上海大学 | Electrically-driven rigid-flexible coupling water snake robot |
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Application publication date: 20200529 |
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