Flexible cable artificial muscle

Abstract

The invention provides flexible cable artificial muscle. The flexible cable artificial muscle comprises a frame, a flexible cable driving device, a tension sensor and an encoder, wherein the flexible cable driving device comprises a motor, a first flexible cable, a first spring, a second spring, a spring parallel connection device and a second flexible cable, the upper end of the first spring and the upper end of the second spring are connected in parallel through the spring parallel connection device, and the lower end of the second spring is installed on the frame through a supporting plate; the motor is fixed to the frame, a flexible cable traction wheel is installed on an output shaft of the motor, one end of the first flexible cable is fixed to the flexible cable traction wheel, and the other end of the first flexible cable is connected with the lower end of the first spring; one end of the second flexible cable is connected with the upper end of the first spring, the tension sensor is installed on the frame, the second flexible cable penetrates through the tension sensor and makes contact with the tension sensor, and the encoder is installed on the motor. The flexible cable artificial muscle is simple in structure, light, easy to control, high in precision, high in flexibility, short in movement latent period, stable in performance and high in muscle bionic degree.

Description

technical field [0001] The invention relates to an artificial muscle, in particular to an artificial muscle conforming to the Hill muscle mechanics model used in robot manufacturing and bionic machinery. Background technique [0002] Muscle (skeletal muscle) is the power source of human or animal movement. As an important organizational structure of human or animal, it can realize the conversion between chemical energy and mechanical energy. After being stimulated by the motor nerve signal, it will contract to generate muscle force, which directly drives the bone movement, and does not require deceleration devices and transmission components. It is a one-way force device, and the movement form is linear reciprocating. Most of the muscles are in the form of "antagonists", structures that stabilize mechanical levers in any position and withstand various stresses. Therefore, constructing a reasonable muscle model provides a new idea for muscle research. The Hill muscle model ...

AI Technical Summary

Problems solved by technology

Existing problems: complex muscle structure, troublesome function realization; large weight and volume; difficult to control, poor flexibility; long latency period, contraction speed and contraction rate need to be improved

Patent application number 201410424839.8 discloses that based on the Hill two-element functional model, a device in which a damping contraction unit is connected in series with an elastic unit is used to simulate human muscles, and the factor of parallel elastic units is not considered. The bionic degree is not high

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