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A Parallel Artificial Muscle with Variable Stiffness

A technology of artificial muscle and variable stiffness, applied in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve the problems of unadjustable stiffness and small output force of artificial muscles, and achieve the effect of real-time adjustable stiffness.

Active Publication Date: 2019-11-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of low output force and non-adjustable stiffness of existing artificial muscles, the present invention proposes a parallel artificial muscle with variable stiffness, and the adopted technical scheme is as follows:

Method used

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  • A Parallel Artificial Muscle with Variable Stiffness
  • A Parallel Artificial Muscle with Variable Stiffness
  • A Parallel Artificial Muscle with Variable Stiffness

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Embodiment 1

[0022] combine Figure 1 to Figure 6 To illustrate this embodiment, the variable stiffness parallel artificial muscle proposed in this embodiment includes a variable stiffness parallel artificial muscle comprising 6 contractile fibers 1 and 3 elongation fibers 2, including 6 contraction fibers 1 and 3 elongation fibers 2. Two exciters 3, flexible membrane 4 and magnetorheological fluid 5.

[0023] The two ends of the six shrinkable fibers 1 are arranged in a circular pattern on the connection end surface of the corresponding fixed exciter 3; the three elongated fibers 2 are surrounded by the six shrinkable fibers 1 in a direction perpendicular to the shrinkable fibers 1, And form a frame with 6 contraction fibers 1; the flexible film 4 covers the outside of the frame, and wraps the frame in the flexible film 4; the flexible film 4 is airtightly connected with two exciters 3 to form an airtight container cavity; the magnetorheological fluid 5 is placed in a closed cavity.

[...

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Abstract

The invention discloses a variable-stiffness parallel-connection artificial muscle, and belongs to the technical field of flexible drivers. The problems that an existing manual muscle is small in output power and cannot be adjusted in rigidity can be solved. The muscle comprises m shrinkage fibers, n extension fibers, two excitors, a flexible film and magnetorheological fluid; two ends of the m shrinkage fibers are connected with the two excitors, the extension fibers are in staggered connection with the shrinkage fibers to form a frame, the flexible film covers the outer side of the frame, aseal containing cavity is formed by the flexible film and the two excitors, and the magnetorheological fluid is arranged in the seal containing cavity. Multiple fibers are adopted for form artificialmuscle parallel connection in a winding manner, amplifying of output force is achieved, the extension and shrinkage artificial muscle can be comprehensively used, through the geometrical relationship,output displacement of the artificial muscle can be amplified, magnetorheological fluid is combined with the artificial muscle, and changing of active rigidity is achieved; multiple artificial musclefibers can be independently driven, and through different drive manners, motion in the multiple directions can be achieved.

Description

technical field [0001] The invention relates to a parallel artificial muscle with variable stiffness, which belongs to the technical field of flexible drives. Background technique [0002] Flexible actuators have always been an important branch of the robotics field. Due to the large size, weight, and high rigidity of the traditional rigid actuators, there are certain limitations in some applications. Flexible actuators have the characteristics of high flexibility and easy deformation, and are easy to be arranged in flexible robots or narrow structures. Because of their strong action flexibility, they are easy to realize the safe interaction between robots, the environment and humans, and have broad application prospects. . [0003] Current common flexible actuators include electroactive polymers, shape memory alloys, ionomer metal composites, etc. These flexible actuators are expensive, have limited output force and displacement, obvious hysteresis, and short fatigue life...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/00
CPCB25J9/003B25J9/1075
Inventor 刘英想唐心田陈维山刘军考
Owner HARBIN INST OF TECH
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