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An artificial muscle with self-sensing function

An artificial muscle and self-sensing technology, applied in the field of artificial muscles, can solve the problems of artificial muscle temperature and displacement measurement difficulties, and achieve the effect of promoting use

Active Publication Date: 2020-09-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of difficult temperature and displacement measurement of existing artificial muscles, the present invention proposes an artificial muscle with self-sensing function, and the adopted technical scheme is as follows:

Method used

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  • An artificial muscle with self-sensing function
  • An artificial muscle with self-sensing function
  • An artificial muscle with self-sensing function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] combine Figure 1 to Figure 3 Describe this embodiment, a kind of artificial muscle with self-sensing function described in this embodiment, described artificial muscle comprises polymer fiber 1, conductive coating layer 2, thermal resistance wire 3 and insulating coating 4; The object fiber 1 adopts a cylindrical structure, and part of the thermal resistance wire 3 is extruded and embedded in the polymer fiber 1; an insulating coating is provided between the thermal resistance wire 3 and the conductive coating 2; The outer surfaces of the fibers 1 and the outer surfaces of the insulating coating 4 which are not in contact with the polymer fibers 1 are coated with a layer 2 of conductive paint. The conductive paint 2 and the insulating paint 3 can withstand higher temperatures.

[0047] Specifically, the manufacturing steps of the artificial muscle include:

[0048] The first step: coating the insulating paint 4 on the outer surface of the thermal resistance wire 3; ...

Embodiment 2

[0055] The artificial muscle described in this embodiment realizes the action of the artificial muscle by electrifying the conductive coating 2, and can achieve the advantage of more uniform heating of the artificial muscle. Other structures and materials are the same as in Example 1.

Embodiment 3

[0057] combine Figure 4 Describe this embodiment. In this embodiment, this embodiment is a further adjustment to the steps of the artificial muscle manufacturing process shown in Embodiment 1. Specifically, firstly, the thermal resistance wire 3 and the polymer fiber 1 are jointly wound into a helical structure , and then apply an insulating coating 4 to it, and finally coat a conductive material 2 on the outer layer. The heat treatment for the helical structure can be performed at any step after the helical structure is formed. The artificial muscle profile after fabrication is as follows: Figure 4 shown. Other structures and materials are the same as in Example 1.

[0058] The advantage of this embodiment is that the insulating coating is more easily combined with the artificial muscle and is not easy to fall off.

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Abstract

The invention discloses an artificial muscle with a self-sensing function, belongs to the technical field of flexible actuators and solves the problem that temperature and displacement measurement ofan existing artificial muscle depend on an external sensor. The artificial muscle with the self-sensing function comprises polymer fibers, thermal resistance wires, a conductive coating and an insulating coating. A manufacturing method of the artificial muscle includes the steps: coating the thermal resistance wires with insulating paint; coating the polymer fibers with conductive paint; jointly winding the thermal resistance wires and the polymer fibers. According to the artificial muscle with the self-sensing function, the thermal resistance wires, the conductive coating and the polymer fibers are combined to manufacture the artificial muscle, the temperature and displacement of the artificial muscle are sensed without the external sensor, and use of the artificial muscle in a control system and a micro-robot is promoted.

Description

technical field [0001] The invention relates to an artificial muscle with a self-sensing function, belonging to the technical field of flexible drives. Background technique [0002] Flexible actuators have always been an important branch of the robotics field. Due to the large size, weight, and high rigidity of the traditional rigid actuators, there are certain limitations in some applications. Flexible actuators have the characteristics of high flexibility and easy deformation, and are easy to be arranged in flexible robots or narrow structures. Because of their strong action flexibility, they are easy to realize the safe interaction between robots, the environment and humans, and have broad application prospects. . [0003] Current common flexible actuators include electroactive polymers, shape memory alloys, ionomer metal composites, etc. These flexible actuators are expensive, have limited output force and displacement, obvious hysteresis, and short fatigue life, makin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
CPCB25J9/1075
Inventor 刘英想唐心田刘军考李凯
Owner HARBIN INST OF TECH