Flexible driver for imitating skeletal muscle variable-rigidity distribution

Abstract

The invention discloses a flexible driver for imitating skeletal muscle variable-rigidity distribution. The flexible driver for imitating skeletal muscle variable-rigidity distribution comprises a matrix, drive parts and an elastic fiber mesh, wherein multiple holding cavities are limited in the matrix from top to bottom and are arranged in parallel; the multiple drive parts are arranged in the holding cavities, communicate with an external air source and can drive the matrix to linearly contract through inflation and deflation; the elastic fiber mesh is arranged on the outer surface of the matrix in a sleeving way; and the distribution density of the elastic fiber mesh located on a middle-section matrix is smaller than the distribution density of the elastic fiber mesh located on an upper-section matrix and a lower-section matrix. Compared with an existing skeletal muscle imitating driver, the flexible driver for imitating skeletal muscle variable-rigidity distribution provided by theinvention has the following beneficial effects that the elastic fiber mesh is additionally arranged for imitating a connective tissue in the skeletal muscle, so that a contraction function of the imitated skeletal muscle is promoted, and the whole drive force is improved. Through the elastic fiber mesh, the drive forces produced by the drive parts are uniformly transmitted to the whole muscle, sothat the endurance of the imitated skeletal muscle is improved. Through controlling the distribution density of the elastic fiber mesh on the outer surface of the matrix, the characteristic of rigidity heterogeneity is imitated.

Description

technical field [0001] The patent of the invention belongs to the technical field of bionic engineering, and relates to a flexible actuator of a bionic robot, in particular to a flexible actuator imitating the variable stiffness distribution of skeletal muscles. Background technique [0002] Biomimicry is a new interdisciplinary subject arising from the rapid development of biology and technical science in the 20th century. Since its birth, it has rapidly expanded to many fields of natural science, technical science and engineering science. Usually by learning, utilizing, and simulating organisms, develop and develop technologies or products with certain biological functional characteristics to solve corresponding problems. [0003] In recent years, with the continuous development of bionics and the continuous enrichment of research content, more and more scholars have carried out research on biological skeletal muscle. Skeletal muscle is the most important part of animal m...

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Problems solved by technology

[0004] However, the currently published skeletal muscle-like flexible actuators have ignored the non-uniform stiffness characteristics of skeletal muscle in the design process, that is, the lack of the role of tendons.

The main purpose of tendons is to convert muscle action into strength, so the current driver has small driving force and poor durability. It only realizes the contraction movement similar to skeletal muscle in the form of movement, but it cannot meet the driving needs of soft robots.

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