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Modular flexible artificial muscle joint

An artificial muscle and modular technology, applied in the field of flexible robots, can solve the problems of complex structure of flexible drive joints, large size, and difficulty in multi-joint combination, and achieve the effect of simple structure, light weight, and simple connection and disassembly

Inactive Publication Date: 2018-05-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of complex structure, relatively large size and difficult combination of multiple joints in the existing flexible drive joints, the present invention further proposes a modular flexible artificial muscle joint

Method used

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  • Modular flexible artificial muscle joint
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specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1-Figure 6 Describe this embodiment, a modular flexible artificial muscle joint described in this embodiment, which includes a front module interface 1, a rear module interface 3, an elastic support beam 5, two mounting flange assemblies 2 and N artificial muscles 4; N is an integer greater than or equal to 3, one end of the front module interface 1 is fixedly installed with a mounting flange assembly 2, one end of the rear module interface 3 is fixedly installed with another installation flange assembly 2, and the two ends of the elastic support beam 5 are respectively fixed Installed on two mounting flange components 2, N artificial muscles 4 are respectively arranged between the two mounting flange components 2, and the two ends of each artificial muscle 4 are respectively fixedly connected to the two mounting flange components 2, The elastic support beam 5 is arranged at the center of the two mounting flange assembli...

specific Embodiment approach 2

[0015] Specific implementation mode two: combination figure 1 , Figure 4-Figure 6 This embodiment is described. In the modular flexible artificial muscle joint described in this embodiment, one end of the front module interface 1 is processed with a dovetail-shaped protrusion, and one end of the rear module interface 3 is processed with a dovetail-shaped groove. The dovetail-shaped protrusion on the front module interface 1 matches the dovetail-shaped groove on the rear module interface 3. The front module interface 1 and the rear module interface 3 can be quickly connected and disassembled, and multiple modular flexible artificial muscle joints pass through The series or parallel connection can form a multifunctional flexible mechanism, and the others are the same as the first embodiment.

specific Embodiment approach 3

[0016] Specific implementation mode three: combination figure 2 This embodiment is described. In the modular flexible artificial muscle joint described in this embodiment, the initial length of each helical spring is equal to the length of the elastic support beam 5 , and the others are the same as in the first embodiment.

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Abstract

The invention provides muscle joint, in particular to a modular flexible artificial muscle joint, and belongs to the technical field of flexible robots. By adoption of the modular flexible artificialmuscle joint, the problems that existing flexible drive joints are complex in structure and large in size and cannot be combined easily are solved. The modular flexible artificial muscle joint comprises a front module port, a rear module port, an elastic supporting beam, two installation flange assemblies and N artificial muscles, wherein N is an integer greater than or equal to three, one installation flange assembly is fixedly installed at one end of the front module port, and the other installation flange assembly is fixedly installed at one end of the rear module port; the two ends of theelastic supporting beam are fixedly installed on the two installation flange assemblies correspondingly; and the N artificial muscles are arranged between the two installation flange assemblies, and the two ends of each artificial muscle are fixedly connected with the two installation flange assemblies correspondingly.

Description

technical field [0001] The invention relates to a muscle joint, in particular to a modular flexible artificial muscle joint, which belongs to the technical field of flexible robots. Background technique [0002] Flexible robot technology has become an important branch in the field of robotics in recent years. Because traditional rigid robots have fewer degrees of freedom and higher structural rigidity, there are limitations in some applications. The flexible robot has the characteristics of high flexibility, deformability and energy absorption characteristics, and has strong adaptability to the environment, and can complete some complex operations in a simpler way. [0003] At present, the most widely used flexible mechanisms are electroactive polymers, rope actuators, shape memory alloys, and fluid actuators. These flexible mechanisms are generally bulky, expensive, require complex external auxiliary systems, and are difficult to use in combination. [0004] The helically...

Claims

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Application Information

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IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 刘英想李凯唐心田陈维山刘军考
Owner HARBIN INST OF TECH
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