A flexible artificial muscle

Abstract

The invention provides a flexible cable artificial muscle. It includes a frame, a flexible cable driving device, a tension sensor and an encoder. The flexible cable driving device includes a motor, a first flexible cable, a first spring, a second spring, a spring parallel device, a second flexible cable, a first spring and a second spring The upper end of the first flexible rope is connected in parallel through the spring parallel device, the lower end of the second spring is installed on the frame through the support plate, the motor is fixed on the frame, the flexible cable pulley is installed on the output shaft of the motor, and one end of the first flexible rope is fixed on the flexible cable pulley , the other end of the first flexible rope is connected to the lower end of the first spring, one end of the second flexible rope is connected to the upper end of the first spring, the tension sensor is installed on the frame, the second flexible rope passes through the tension sensor and contacts, the encoder installed on the motor. The invention is an artificial muscle with simple structure, light weight, easy control, high precision, good flexibility, short action latency, stable performance and high degree of muscle bionics.

Description

technical field [0001] The invention relates to an artificial muscle, in particular to an artificial muscle conforming to the Hill muscle mechanics model used in robot manufacturing and bionic machinery. Background technique [0002] Muscle (skeletal muscle) is the power source of human or animal movement. As an important organizational structure of human or animal, it can realize the conversion between chemical energy and mechanical energy. After being stimulated by the motor nerve signal, it will contract to generate muscle force, which directly drives the bone movement, and does not require deceleration devices and transmission components. It is a one-way force device, and the movement form is linear reciprocating. Most of the muscles are in the form of "antagonists", structures that stabilize mechanical levers in any position and withstand various stresses. Therefore, constructing a reasonable muscle model provides a new idea for muscle research. The Hill muscle model ...

AI Technical Summary

Problems solved by technology

Existing problems: complex muscle structure, troublesome function realization; large weight and volume; difficult to control, poor flexibility; long latency period, contraction speed and contraction rate need to be improved

Patent application number 201410424839.8 discloses that based on the Hill two-element functional model, a device in which a damping contraction unit is connected in series with an elastic unit is used to simulate human muscles, and the factor of parallel elastic units is not considered. The bionic degree is not high

Images