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Electromagnetic-force-driven artificial muscle

A technology of artificial muscle and electromagnetic force, applied in the field of artificial muscle, can solve the problems of high price, poor output characteristics of artificial muscle, low driving efficiency, etc., and achieve the effect of simple structure, improved driving efficiency, and reduced control difficulty

Active Publication Date: 2018-06-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problems of poor output characteristics, low drive efficiency and high price of existing artificial muscles, the present invention proposes this kind of artificial muscle driven by electromagnetic force, and the technical scheme adopted is as follows:

Method used

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  • Electromagnetic-force-driven artificial muscle
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  • Electromagnetic-force-driven artificial muscle

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Embodiment 1

[0019] An artificial muscle driven by electromagnetic force, the artificial muscle includes n sets of excitation coils 1, n armature coils 2 and a flexible substrate 3, wherein n is an integer greater than or equal to 1; the excitation coil 1 and the armature coil 2 placed inside the flexible substrate; the excitation coil 1 and the armature coil 2 are integrally wound into a helical structure with the flexible substrate; the n armature coils 2 intersect with each other and are set at the center of the flexible substrate 3; The n sets of excitation coils 1 and the n armature coils 2 intersecting each other are uniformly distributed around the axis of the flexible substrate 3 . When the helical structure is deformed along its length, the helical structure undergoes torsional deformation. On the contrary, when the helical structure actively produces torsional deformation, the helical structure will undergo linear deformation in the length direction. Thus, the helical structure ...

Embodiment 2

[0022] combine Figure 1 to Figure 5 Describe this embodiment, a kind of artificial muscle driven by electromagnetic force provided by this embodiment, such as figure 1 As shown, the artificial muscle includes 2 sets of excitation coils 1, 2 armature coils 2 and a flexible substrate 3; the excitation coil 1 and the armature coil 2 are placed inside the flexible substrate; the excitation coil 1 and the armature coil 2 and the flexible substrate are integrally wound into a spiral structure; the two armature coils 2 are arranged at the center of the flexible substrate 3; one of the armature coils 2 is placed on the other armature coil 2, and the two armature coils The coils 2 are nested in a cross structure; the two sets of excitation coils 1 correspond to two armature coils 2; each set of excitation coils 1 includes two excitation coils 1, and the two excitation coils 1 are respectively arranged on the The corresponding two ends of the armature coil 2 in the axis direction, and...

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Abstract

The invention discloses an electromagnetic-force-driven artificial muscle, and belongs to the technical field of flexible drivers. Straight line deformation of the electromagnetic-force-driven artificial muscle can be generated under external voltage, and the problems that an existing artificial muscle is poor in output characteristic, low in efficiency and high price are solved. The electromagnetic-force-driven artificial muscle comprises n energizing coils, n armature coils and a flexible base body; the energizing coils and the armature coils are arranged inside the flexible base body and annularly distributed in the axis of the flexible base body; the coils and the flexible base body are wholly wound into a spiral structure. According to the electromagnetic-force-driven artificial muscle, torsional deformation of the artificial muscle is generated through electromagnetic force between the coils, and is magnified into straight line deformation through the spiral structure, and the large deformation amount and output force can be generated; the artificial muscle is simple in structure, small in size, light in weight and high in energy density; driving is carried out through the electromagnetic force, controlling of the deformation amount and the output force is easily controlled; electric energy is directly converted into mechanical energy, energy conversion and energy consumption of other modes do not exist, and driving efficiency is high.

Description

technical field [0001] The invention relates to an artificial muscle driven by electromagnetic force, 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, ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/12
CPCB25J9/1075B25J9/12
Inventor 刘英想唐心田陈维山刘军考
Owner HARBIN INST OF TECH
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