公开(公告)号：US11345054B2

公开(公告)日：2022-05-31

申请号：US17280716

申请日：2020-06-01

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Te Li ,  Yongqing Wang ,  Haibo Liu ,  Qile Bo ,  Boyao Cui ,  Jianhui Deng ,  Kuo Liu

IPC: B25J9/10 ,  B25J19/06 ,  B25J9/14 ,  B25J15/02 ,  B25J19/00

Abstract: A magnetic-induced stiffness changed soft robot drive module includes magnetic-induced stiffness changed layer, two-degree-of-freedom pneumatic driver, magnetic core and sealing fixing device. The magnetic-induced stiffness changed layer and two-degree-of-freedom pneumatic driver are printed and formed. The magnetic core can be deformed together with the driver, and a magnetic field can be generated when it is energized. After the magnetic core is installed into the two-degree-of-freedom pneumatic driver, then assembled with the sealing fixing device, a soft robot drive module with one end fixed is finished. The magnetic-induced stiffness changed layer has the fast, reversible and controllable stiffness adjustment ability under the action of electromagnetic field. As its hardness is greater than that of the two-degree-of-freedom pneumatic driver and its position is outside the air cavity, the two-degree-of-freedom pneumatic driver can be restricted from over-expansion and over-extension in the axial direction, making its pneumatic bending deformation controllable.