Nesting type shape memory alloy pneumatic artificial muscle

Abstract

The invention discloses a nesting type shape memory alloy pneumatic artificial muscle. The nesting type shape memory alloy pneumatic artificial muscle comprises an upper fixing disc, fixing rods, axial SMA wires, a sliding disc, a pneumatic muscle body, a PM lower installing disc, a lower fixing disc, a sliding square shaft, a rotating shaft, a PM upper installing disc, springs, radial SMA wires, a drive circuit, upper fixing disc wiring holes, a rotating shaft hole, sliding disc rod penetrating holes, sliding disc wiring holes, lower fixing disc wiring holes and a square hole. The pneumatic muscle body is nested in a fixing frame, and accordingly the device structure is compact. The axial SMA wires are wound many times, the effective length is increased, large deformation is generated, muscle bundles are pulled, the contraction amount of the muscle bundles is increased, and through the wire delaying circulation effect generated due to superelasticity of the wires, influences generated by load vibration can be relieved; through contraction of the radial SMA wires, muscle bundle rotation is achieved, and the rigidity of the pneumatic muscle body is changed; and compared with the same-type pneumatic muscle on the market, the pneumatic muscle is compact in structure, large in contraction amount and wide in rigidity changeable range.

Description

technical field [0001] The invention belongs to the technical field of pneumatic muscles, and in particular relates to a nested shape memory alloy pneumatic artificial muscle. Background technique [0002] In recent years, with the research and development of bionic technology, people pay more and more attention to pneumatic muscles. A large number of experts and scholars at home and abroad are extensively researching and applying pneumatic muscles. Pneumatic Muscle (PM) is a new type of flexible actuator designed according to the principle of human muscle movement. It is mainly composed of three parts: outer braided mesh, rubber tube and clamp. When the compressed air is fed in, the rubber tube expands and sticks tightly to the braided net, and the force of the gas is transmitted to the braided net, so that the expansion is transformed into an axial contraction force. Compared with traditional driving devices, pneumatic muscles have the advantages of high flexibility, high...

AI Technical Summary

Problems solved by technology

The deformation of the piezoelectric body in the above invention is relatively small due to the inverse piezoelectric effect. If the size of the piezoelectric body is increased, the size of the entire pneumatic muscle will also increase accordingly.

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