Pneumatic muscle and realized driving mechanism thereof

Abstract

The invention relates to a pneumatic muscle and a realized driving mechanism thereof. The pneumatic muscle comprises a pneumatic muscle body, wherein the pneumatic muscle body is provided with an axial cavity which is used for charging / discharging compressed gas so as to provide a pulling force along the axial direction of the pneumatic muscle body; the pneumatic muscle body comprises an elastic hose with an axial activity and a woven mesh pipe which wraps the outer layer of the elastic hose and is used for restraining the axial deformation of the elastic hose; the woven mesh pipe comprises a plurality of lubricating pipes which are woven in a staggered mode; and restraining silks are respectively arranged in the lubricating pipes. According to the pneumatic muscle, the frictional force at the staggered positions is reduced when the pneumatic muscle body is deformed; the retardance caused by the body frictional force of the pneumatic muscle can be reduced; and therefore, the accuracy of pneumatic muscle mathematical models can be increased and the position control precision of the pneumatic muscle is increased.

Description

technical field [0001] The invention relates to the field of bionic muscles, in particular to a pneumatic muscle and its driving mechanism. Background technique [0002] With the urgent needs of medical clinics to reduce surgical risks and operation time, as well as patients' urgent needs for small wounds, light pain, and rapid prognosis, minimally invasive surgery has become popular as a new surgical model that has developed rapidly in recent years. It has gradually evolved into the most commonly used surgical method in clinical practice. However, with the development of science and technology, the development of clinical minimally invasive surgery will inevitably move towards a more convenient and diversified direction, including multiple development trends such as clinical reliability, compatibility, and flexibility. [0003] In order to meet the demand for flexibility, there are many flexible actuators in the prior art, such as pneumatic muscles. Compared with rigid act...

AI Technical Summary

Problems solved by technology

[0004] However, when the pneumatic muscle is used as the driver, compared with the traditional driving method, it has stronger hysteresis, showing the phenomenon of creeping and creeping

This will make it difficult to accurately establish the mathematical model of the aerodynamic muscle, thus affecting the position control accuracy of the aerodynamic muscle to a certain extent

For this reason, some relevant institutions have also done research on reducing the hysteresis of aerodynamic muscles, but the effect is not obvious

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