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Bionic force driving device and control method thereof

A driving device and bionic force technology, applied in the field of bionic machinery, can solve problems such as inflexibility, and achieve the effects of overcoming insufficient output power, large load range, and strong adaptive control ability

Active Publication Date: 2021-10-19
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a bionic force driving device and its control method for the problem of inflexibility existing in the current bionic driving device

Method used

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  • Bionic force driving device and control method thereof
  • Bionic force driving device and control method thereof
  • Bionic force driving device and control method thereof

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Embodiment Construction

[0033] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail through the following embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0034] The serial numbers assigned to the components in this document, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequence or technical meaning. The "connection" and "connection" mentioned in this application all include direct and indirect connection (connection) unless otherwise specified. In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner",...

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Abstract

The invention provides a bionic force driving device, which is designed with reference to the bone-muscle structure of a living body, and includes a driving assembly and an action assembly, the action assembly includes a rotatably connected fixed end rod and a free end rod, and the driving assembly includes an elastic The unit and the drive unit, the two ends of the elastic unit are fixedly connected to the fixed end rod and the free end rod respectively, the elastic unit contains fillers inside, the drive unit can control the input and output of the filler, so that the elastic unit deforms, and the elastic unit deforms When driving the fixed end rod and the free end rod to rotate relatively through its two ends, it is more flexible than the traditional driving method. The invention also provides a control method of the bionic force driving device, which can precisely control the output force of the device.

Description

technical field [0001] The invention relates to the field of bionic machinery, in particular to a bionic force driving device and a control method thereof. Background technique [0002] Skeletal muscles can flexibly control human body movement through self-contraction and stretching, and the force is sustained and explosive. Not only that, but skeletal muscle also protects brittle bones from being broken by gravity. At the same time, skeletal muscle has adaptive ability. As the frequency and force of use change, its contraction ability changes accordingly to adapt to stronger strength and drive requirements. [0003] Existing mechanical arms or motion devices with flexible requirements are driven by motors, pneumatics, hydraulics, etc. Pneumatic and hydraulic drives have strong explosive force, but the accuracy and continuity of the force cannot be guaranteed. Motor drives control devices that require strong output. Weak. [0004] Existing robots can replace humans to comp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
CPCB25J9/1075
Inventor 张建富冯平法罗文涛崔若愚吴志军郁鼎文
Owner TSINGHUA UNIV