Self-sensing bag type pneumatic artificial muscle based on shrinkage magnification mechanism

Abstract

The invention discloses self-sensing bag type pneumatic artificial muscle based on a shrinkage magnification mechanism. The artificial muscle comprises a rectangular flat multi-chamber air bag and theshrinkage magnification mechanism used in cooperation with the multi-chamber air bag. The shrinkage magnification mechanism comprises an H-shaped frame formed by connecting two transverse plates anda longitudinal plate and two metal columns installed between the two transverse plates, wherein the two metal columns are symmetrically arranged on the two sides of the longitudinal plate, and a firstgap and a second gap are formed between the longitudinal plate and the metal columns correspondingly. The multi-chamber air bag sequentially penetrates through the first gap, the top end of the longitudinal plate and the second gap to be connected with the frame, and the chambers of the air bag are evenly distributed on one side of the longitudinal plate. A displacement sensor for feeding back artificial muscle displacement is arranged between the frame and the multi-chamber air bag. The self-sensing bag type pneumatic artificial muscle based on the shrinkage magnification mechanism has the characteristics of being high in shrinkage rate and integration degree, capable of achieving self-sensing and easy to expand.

Description

technical field [0001] The invention relates to the technical field of artificial muscles, in particular to a self-sensing bag-type pneumatic artificial muscle based on a contraction rate amplification mechanism. Background technique [0002] Pneumatic artificial muscle is an actuator that is powered by an external air pressure source to output push-pull force. It is widely used in bionic robots, medical robots, exoskeletons, industrial and other scenarios, and has the characteristics of high compliance, high power-to-weight ratio, and high human-machine compatibility. [0003] However, the contraction rate of the existing artificial muscles driven by positive pressure is generally about 30%, and the thickness or radial direction changes drastically when acting, making it unusable in high-compact applications. Taking the Mckibben muscle as an example, it is necessary to greatly increase its radial expansion factor. The higher the shrinkage rate, the greater the radial chan...

AI Technical Summary

Problems solved by technology

[0003] However, the contraction rate of the existing artificial muscles driven by positive pressure is generally about 30%, and the thickness or radial direction changes drastically during the action, making it unusable in high-compact applications. Taking the Mckibben muscle as an example, it is necessary to greatly increase its radial expansion multiple

The higher the shrinkage rate, the greater the radial change, causing it to cause additional extrusion to the skin in wearable device applications and reduce wearing comfort

In addition, the existing artificial muscle control generally relies on external sensors, such as dynamometers, displacement sensors, etc., which makes the equipment bloated and brings unnecessary rigid components to the equipment.

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