Bending joint driven by linear expansion artificial muscle

Abstract

The present invention relates to a linear expansion artificial muscle and its driven bending joint, which can be used as a mechanical actuator, or as a finger, knee and elbow joint of a robot, as a mechanical device, especially as an actuator of a robot, The utility model belongs to the application technical field of robots and mechatronics. The present invention uses the elastic wave shell in the artificial muscle to inflate and expand as the muscle power. The structure design is unique. Bending and certain twists are generated, the volume change of the elastic wave shell is easy to calculate and measure, the structure of the elastic wave shell is easy to design, and the control method of joint bending is simpler; combined with elastic elements such as plate springs, torsion springs, and tension springs, the straight line Joint bending driven by artificial muscles can be single-degree-of-freedom or multi-degree-of-freedom.

Description

Technical field: [0001] The present invention relates to a linear expansion artificial muscle and its driven bending joint, which can be used as a mechanical actuator, or as a finger, knee and elbow joint of a robot, as a mechanical device, especially as an actuator of a robot, The utility model belongs to the application technical field of robots and mechatronics. Background technique: [0002] Before the present invention, in the prior art, most of the bending joints driven by artificial muscles were driven by muscle contraction, while the artificial muscles driven by muscle expansion used the bending deformation of the rubber tube to limit the radial expansion. , there is also a bending joint driven by an elastic shell / bellows with compliance (bending and certain twisting). The deformation of the rubber tube consumes a lot of energy, and the elastic deformation of the rubber tube is strongly nonlinear, so it is difficult to establish a mathematical model and control the ...

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Problems solved by technology

The deformation of the rubber tube consumes a lot of energy, and the elastic deformation of the rubber tube is strongly nonlinear, so it is difficult to establish a mathematical model and control the bending deformation; although the energy consumption of the elastic wave shell / bellows deformation is small, the elastic wave shell / corrugated The calculation of the elastic deformation of the pipe is complicated, and the establishment of the mathematical model and the control of the bending deformation require computer software to assist the calculation, and the real-time performance is poor.

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