Internal support assembly based on SMA driven bending unit

• Main Authors: TANG SHUFENG, LIANG WEI, ZHOU PENGFEI, LYU DEWEN
• Format: Patent
• Language: Chinese; English
• Published: 24.12.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses an internal support assembly based on an SMA driven bending unit, and relates to the technical field of soft robots. The internal support assembly comprises a support, two spherical hinge devices and two joint end covers, the two joint end covers are respectively arranged at the two ends of the support; the joint end covers comprise end plates and connecting shafts, one endof the connecting shafts are fixedly connected with the end plates, and the other ends of the connecting shafts are connected with one end of the support through spherical hinge devices; the two endsof the support are fixedly provided with a plurality of spring steel plates, the spring steel plates are uniformly distributed at the center of the connecting shafts as the center, and one end, awayfrom the support, of the spring steel plates are arranged close to the end plates. The internal support assembly can be used as a basic unit of a robot motion joint, and can complete multi-angle motion under the action of a dri