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A technology of artificial muscles and soft cables, applied in the field of artificial muscles, can solve the problems of contraction speed and contraction rate to be improved, no consideration of parallel elastic units, low level of muscle bionics, etc., to achieve convenient and quick adjustment, high energy utilization efficiency, and extensive The effect of applying space
Active Publication Date: 2017-06-20
HARBIN ENG UNIV
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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
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[0026] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.
[0027] combine figure 1 , the structural form of the artificial muscle of the present invention is: a series structure composed of a series elastic element and a contraction element, and combined with a parallel elastic element to form an artificial muscle device composed of three elements of Hill, the length of the artificial muscle is tandem The sum of the elastic element length and the contracted original length.
[0028] combine Figure 2~3 , The composition of the artificial muscle system of the present invention includes: a support system frame 1, a cable drive device, a limit device, and a detection device. The support system frame 1 is constructed of profiles and can be moved arbitrarily as required. The flexible cable driving device is made up of permanent magnet DC torque motor 12, flexible cable pulley 18, first flexible cable 2, firs...
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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 ...
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