Nested Shape Memory Alloy Pneumatic Artificial Muscle

Abstract

The invention discloses a nested shape memory alloy pneumatic artificial muscle. The invention includes upper fixed plate, fixed rod, axial SMA wire, sliding plate, pneumatic muscle, PM lower mounting plate, lower fixed plate, sliding square shaft, rotating shaft, PM upper mounting plate, spring, radial SMA wire, drive circuit , upper fixed plate threading hole, rotating shaft hole, sliding plate threading rod hole, sliding plate threading hole, lower fixed plate threading hole, square hole; the pneumatic muscle is nested inside the fixed frame to achieve a compact structure of the device; axial Through multiple windings, SMA wire increases the effective length, produces large deformation, pulls the muscle bundle, and increases its contraction, and the hysteresis cycle effect of the wire during superelasticity can alleviate the impact of load vibration; through the radial SMA wire Contraction realizes the rotation of muscle bundles and changes the stiffness of the pneumatic muscle; compared with the same model of pneumatic muscle on the market, the pneumatic muscle has a compact structure, a large contraction amount, and a wide range of variable stiffness.

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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