公开(公告)号：US20160136820A1

公开(公告)日：2016-05-19

申请号：US14944999

申请日：2015-11-18

Applicant: Joshua Aaron Lessing ,  Ryan Knopf ,  Carl Vause

Inventor： Joshua Aaron Lessing ,  Ryan Knopf ,  Carl Vause

IPC: B25J15/00 ,  B25J15/12

CPC classification number: B25J15/12 ,  B25J15/0023 ,  B25J15/0071 ,  B25J15/10

Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

Abstract translation: 示例性实施例为软的机器人致动器提供增强。 在一些实施例中，角度调节系统被提供用于改变致动器与轮毂之间或两个致动器之间的角度。 角度调节系统也可用于改变致动器之间的相对距离或间距。 根据另外的实施例，提供刚性层，用于在相对高应变的一个或多个位置处增强致动器的一个或多个部分。 根据另外的实施例，提供了力放大结构，用于增加致动器施加到目标的力的量。 力放大结构可以用于缩短在充气时经受弯曲的致动器的长度。 根据另外的实施例，提供夹持垫用于定制致动器的夹紧轮廓以更好地符合要夹紧的物品的表面。