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Multi-degree-of-freedom hybrid drive artificial muscle

A hybrid drive and artificial muscle technology, applied in the fields of bionics, smart materials, and pneumatic muscles, can solve problems such as heating troubles, insufficient muscle strength of fishing lines, etc., and achieve high power-to-weight ratio, increased bending freedom, and good flexibility Effect

Active Publication Date: 2017-07-18
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the muscle strength of the fishing line formed by pure thin fishing line is insufficient, and it is troublesome to heat

Method used

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  • Multi-degree-of-freedom hybrid drive artificial muscle
  • Multi-degree-of-freedom hybrid drive artificial muscle
  • Multi-degree-of-freedom hybrid drive artificial muscle

Examples

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Embodiment Construction

[0018] figure 1 It is a schematic diagram of a multi-degree-of-freedom hybrid-driven artificial muscle structure. The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0019] A. A layer of PET braided mesh is installed outside the elastic rubber tube, and the two ends are sealed and fastened by inner plug members and outer clamps. In addition, there is a threaded through hole in the middle of the inner plug member for front-end sealing, and the pneumatic joint is connected by thread connection, and the pneumatic joint is connected to the external air pipe to inflate and deflate the rubber pipe. There is a threaded hole with a certain depth on the inner plug member for sealing the rear end, and the rear end fixing frame is fixed by screwing in the screw.

[0020] B. The initial braiding angle of the braided net outside the elastic rubber tube is greater than 54°, which satisfies the requirement tha...

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PUM

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Abstract

The invention discloses a multi-degree-of-freedom hybrid drive artificial muscle. A polyethylene terephthalate (PET) woven mesh is mounted outside an elastic rubber hose, two ends of the elastic rubber hose are sealed by the aid of outer clamps and inner plugs, a front-end fixing frame and a pneumatic joint are mounted on the inner plug at the front end, a back-end fixing frame is mounted on the inner plug at the back end, three guide frames are longitudinally arranged between the two fixing frames at equal distances, and four shape memory alloy-nylon fishing line muscle fibers are evenly distributed between the two fixing frames in the circumferential direction. The initial weaving angle of the woven mesh on the outer side of the elastic rubber hose is set to be larger than 54 degrees, and the axial displacement and the axial push force are produced when the inside of the rubber hose is pressurized by air. The shape memory alloy-nylon fishing line muscle fibers are heated by pulse current, and thus bending deformation of the hybrid artificial muscle is realized. The artificial muscle has the positive effects that the drive characteristics of an elongation type pneumatic muscle are improved, the degree of freedom of the elongation type pneumatic muscle is increased, and the artificial muscle can be applied in the field of bionic robots requiring high-precision compliant drive.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom mixed driving artificial muscle, which belongs to the technical field of pneumatic muscle, the field of intelligent materials and the field of bionics. Background technique [0002] Pneumatic artificial muscle, as a new type of bionic drive, was first proposed by the former Soviet Union S.Garasiev in 1930, after which various similar inventions appeared. For example, the United States invented the Mckibben type pneumatic muscle, Japan developed the Rubbertuator pneumatic muscle, and the United Kingdom produced the Air Muscle pneumatic muscle. With the continuous use and development of pneumatic muscles, commercial production has been realized at present. The relatively large manufacturers of pneumatic muscles include Shadow Company of the United Kingdom and Festo Company of Germany. This traditional type of pneumatic muscle is mainly composed of an elastic rubber tube, an external braided mesh that co...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/14
CPCB25J9/1075B25J9/142
Inventor 郝丽娜薛帮灿杨辉项超群
Owner NORTHEASTERN UNIV
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