Driving-and-transmission integrated musculoskeletal driver and performance testing device thereof

Abstract

The invention discloses a driving-and-transmission integrated musculoskeletal driver and a performance testing device thereof. The musculoskeletal driver is composed of muscle fiber imitated driving units and a flexible matrix. The shape of the flexible matrix and structures and spatial arrangement of the muscle fiber imitated driving units are designed according to the spatial structure of a realmuscle, thereby forming a muscle fiber imitated driving unit matrix and packaging in the flexible matrix. For testing function of the musculoskeletal driver, a driving air source is supplied to the musculoskeletal driver by an air pump, a pressure regulator and a pipeline. A load is applied to the musculoskeletal driver, thereby making the muscle fiber imitated driving units contract. In each contraction, motion of the musculoskeletal driver is recorded by a digital camera, and a relation among thickness of the musculoskeletal driver, the rotation magnitude of the muscle fiber imitated driving units and a load is measured, thereby obtaining a transmission ratio of the musculoskeletal driver. The performance testing device is used for verifying the driving-and-transmission integrated performance of the musculoskeletal driver and an automatic speed change characteristic according to load change.

Description

technical field [0001] The invention belongs to the technical field of bionic engineering, relates to a power drive device of a robot, and in particular relates to an imitation skeletal muscle driver with integrated driving and transmission and a performance testing device thereof. Background technique [0002] Biomechanical studies have shown that skeletal muscles regulate output force and speed through changes in the muscle fiber feather angle (the angle between the muscle fiber and the muscle force line). When subjected to a low load, the thickness of the muscle contraction increases, the feather angle increases after the muscle fiber rotates, the muscle output force decreases, and the movement speed increases; when the muscle is subjected to a high load, its width increases, the fiber rotation reduces the feather angle, and the movement The speed is reduced and the output force is increased. This shows that the human skeletal muscle is both a drive unit and a transmissi...

AI Technical Summary

Problems solved by technology

However, the output pulling force of McKibben type pneumatic artificial muscle will be affected by friction and inelastic deformation of rubber. The inelastic deformation of the pneumatic artificial muscle causes hysteresis and pressure dead zone during the working process, which leads to the reduction of the effective tension generated by the inflation contraction, and the efficiency is low; in addition, the muscle needs to maintain a constant volume during the contraction, so any muscle in When contracting, it needs to expand in the direction orthogonal to its line of action, and the tissue that resists this expansion may mediate how the shape of the muscle changes, and ultimately determine the transmission ratio of the muscle's operation, but this McKibben-type pneumatic artificial muscle array lacks a constant volume. control, ignoring the significance of dynamic changes in muscle shape

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