PVT precise control artificial muscle

Abstract

The invention discloses a PVT precise control artificial muscle consisting of a structural unit, a driving unit and a precise control unit. An infusion tube is used for connecting a thermal insulatingliquid storage tank, a mini-sized water pump and a muscle body to form a closed circuit. If the muscle is stretched, the mini-sized water pump pumps liquid from the liquid storage tank into a TPU muscle cavity, pressurizing the muscle so as to elongate the muscle; if the muscle is shortened, the mini-sized water pump draws the liquid from the TPU muscle cavity to the thermal insulating liquid storage tank so as to reduce pressure in the muscle cavity which then contracts. During processes of artificial muscle movement, a pressure sensor is used for monitoring intramuscular pressure and sending feedback to the mini-sized water pump. Because of a quantitative relationship between the intramuscular pressure, temperature and muscle shape variables, the muscle can be controlled accurately viaclosed-loop pressure control; a temperature sensor is used for accurately measuring temperature of liquid mediums at various positions inside the muscle and giving feedback to a feedback resistor heating wire so as to adjust temperature of the liquid mediums in time. Dual closed-loop control of pressure and temperature allows the artificial muscle to be accurately deformed in a preset manner.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to an artificial muscle device capable of precisely controlling deformation. Background technique [0002] Soft robot is a new type of robot, which has the characteristics of high structural softness, good environmental adaptability, strong affinity, and various functions. It has broad application prospects in industrial production, medical services, and military detection. [0003] For the existing pneumatic soft robot, it is difficult to achieve stepless gradual motion and precise control of its deformation, so it is impossible to achieve precise actuate. For example, the patent (CN107234621A) proposes to adopt the design of a sealed space composed of elastic expansion and deformation expansion layers inside the inchworm soft robot, and inflate the air in the closed space to make the robot move according to the requirements, and the driving force generated by the pneumatic soft robot t...

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Problems solved by technology

[0004] The invention aims at the limitations of current pneumatic soft robots that it is difficult to accurately control the deformation and the generated force is relatively small.

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