Title:
MODEL BUILDING METHOD FOR VARIABLE-STIFFNESS SOFT ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/082520
Kind Code:
A1
Abstract:
A model building method for a variable-stiffness soft robot comprises: step 1, designing a locking force between filler particles; step 2, calculating an equivalent pressure in a thin film tube (31); step 3, establishing a correspondence relationship between the locking force and a vacuum pressure in the thin film tube (31); step 4, designing a locking torque of a particle block; step 5, establishing a correspondence relationship between the locking torque and a hardness of small spherical particles (35); and step 6, calculating a deformation angle of the thin film tube (31). The method treats all filler particles (34, 35) in the thin film tube (31) and the thin film tube (31) as an integrated particle block, considers the small spherical particles (35) as an equivalent of a fluid and the thin film tube (31) as an equivalent of a closed space, and establishes a Hertzian sphere-plane contact model. Models for the locking force and the locking torque are established according to the Hertz contact theory and a Hertzian two-sphere contact model. In this way, the invention enables control of the stiffness of the variable-stiffness soft robot, and the established model is reliable since the result obtained by variable-stiffness characteristic simulation is consistent with the model.
More Like This:
| WO/1984/004828 | METHOD OF CONTROLLING INDUSTRIAL ROBOT ALONG ARC |
| JP2004216504 | LOADER CONTROL DEVICE |
| WO/2002/083373 | A DEVICE AND A METHOD FOR CALIBRATION OF AN INDUSTRIAL ROBOT |
Inventors:
XU FENGYU (CN)
JIANG FENGYOU (CN)
YU HONGLIANG (CN)
JIANG GUOPING (CN)
JIANG FENGYOU (CN)
YU HONGLIANG (CN)
JIANG GUOPING (CN)
Application Number:
PCT/CN2020/100791
Publication Date:
May 06, 2021
Filing Date:
July 08, 2020
Export Citation:
Assignee:
NANJING NANYOU INST OF INFORMATION TECHNOVATION CO LTD (CN)
International Classes:
B25J9/16; B25J15/12; B25J18/06
Domestic Patent References:
| WO2015006613A1 | 2015-01-15 |
Foreign References:
| CN110722563A | 2020-01-24 | |||
| CN107756385A | 2018-03-06 | |||
| CN108481318A | 2018-09-04 | |||
| CN108381548A | 2018-08-10 | |||
| CN207157327U | 2018-03-30 |
Other References:
ANDREA K; CHRISTINE LEITNER; HERBERT LEITOLD; ALEXANDER PROSSER: "Advances in Databases and Information Systems", vol. 11740 Chap.45, 2 August 2019, SPRINGER INTERNATIONAL PUBLISHING, Cham, ISBN: 978-3-319-10403-4, article JIANG FENGYOU; XU FENGYU; YU HONGLIANG; SONG YURONG; CAO XUDONG: "Force Analysis and Experiment of Variable Stiffness Soft Actuator Based on Particle Jamming", pages: 513 - 525, XP047515851, 032682, DOI: 10.1007/978-3-030-27526-6_45
Attorney, Agent or Firm:
RAYTO PARTNERS, P.C. (CN)
Download PDF: