Artificial muscle module based on the nonlinear characteristics of muscle

Abstract

The invention belongs to the technical field of robots, and particularly relates to an artificial muscle module based on muscle non-linear characteristics. The artificial muscle module aims to solve the problems that the existing robots are poor in flexibility and cannot complete complex and high-precision assembling actions. The artificial muscle module comprises a body structural part, a tensioning unit, a telescopic unit and a pneumatic tendon, wherein the telescopic unit comprises a guiding device and an elastic part; the guiding device comprises a fixing part and a moving part; the elastic part and the pneumatic tendon are connected with the moving part of the guiding device; and the tensioning unit comprises a driving part and a flexible connecting part. According to the artificial muscle module, the pneumatic tendon and the driving part can drive the flexible connecting part to pull the moving part of the guiding device to move during active shrinkage, and the elastic part provides a passive pull force during passive stretching, so that the nonlinear characteristics of the muscle in working state are simulated. The artificial muscle module has flexibility and enables the robot assembling the artificial muscle module to complete complex and high-precision assembling actions.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an artificial muscle module based on the nonlinear characteristics of muscles. Background technique [0002] Today, with the rapid development of robot technology, industrial robots have been widely used in factory automation production, especially the general-purpose mechanical arm, which can be easily grasped, sorted and installed with the designed end effector. But in some complex assembly links, people are always needed to perform complex and repetitive assembly work. In this assembly situation, compared with robots, humans have higher compliance, and can use the mutual antagonism of human muscles to complete high-precision assembly under low sensor information. [0003] In the field of bionic robotics, research on humanoid robotic arms has been ongoing. From simply imitating the freedom of movement of the upper limbs of the human body to the muscle arrangement of the uppe...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that existing humanoid robots cannot simulate the nonlinear characteristics of muscles to provide flexibility for assembly, the present invention provides an artificial muscle module based on the nonlinear characteristics of muscles. The artificial muscle module includes a body structure, a tension unit, a telescopic unit, and a pneumatic muscle;

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