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Electrically-driven metal wire framework-spandex fiber twisted composite artificial muscle and preparation method thereof

A technology of spandex fibers and artificial muscles, which is applied in the direction of manufacturing tools, program-controlled manipulators, manipulators, etc. It can solve the problems of limiting the application of artificial muscles and reducing the load capacity, and achieves low driving temperature, large untwisting torque, and the number of untwisting turns. little effect

Active Publication Date: 2021-06-11
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Increase the spring coefficient (D / d) of the artificial muscle by winding the mandrel, which can increase the stroke, but the load capacity is greatly reduced
This greatly limits the application of this artificial muscle in soft robots

Method used

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  • Electrically-driven metal wire framework-spandex fiber twisted composite artificial muscle and preparation method thereof
  • Electrically-driven metal wire framework-spandex fiber twisted composite artificial muscle and preparation method thereof
  • Electrically-driven metal wire framework-spandex fiber twisted composite artificial muscle and preparation method thereof

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. The operating methods not indicated in the following examples are generally in accordance with conventional conditions, or in accordance with the conditions suggested by the manufacturer.

[0047] Such as figure 1 As shown, the preparation method of the electrically driven metal wire skeleton-spandex fiber twisted type composite artificial muscle of the present embodiment comprises steps:

[0048] (1) Pretreatment stage: pre-stretching the spandex fiber bundle, then fixing one end of the pre-stretched spandex fiber 2 , and performing pre-twisting treatment on the pre-stretched spandex fiber 2 under the action of the motor 1 at the other end.

[0049] (2) Composite stage: when one end is ...

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Abstract

The invention discloses an electrically-driven metal wire framework-spandex fiber twisted composite artificial muscle and a preparation method thereof. The preparation method comprises the following steps that in the pretreatment stage, spandex fibre bundles are sequentially subjected to pre-stretching and pre-twisting treatment; in the compounding stage, the pre-treated spandex fiber bundles are rotated and twisted to enable the spandex fiber bundles to be spirally wound onto the surface of a metal wire, and the fiber bundles are twisted to a limit number of turns under the condition of keeping the length of the metal wire-spandex fiber composite structure unchanged; in the spiral forming stage, the fixed end of the metal wire-spandex fiber composite structure twisted to the limit number of turns into a movable end, certain loads are further added, and twisting continues to be conducted to obtain the twisted composite artificial muscle of a spiral spring structure; and in the annealing training stage, the loads of the movable end of the twisted composite artificial muscle of the spiral spring structure are reduced, intermittent currents are loaded on the metal wire, the processes of Joule heat generation heating and heat dissipation are repeatedly conducted till residual stresses are eliminated, and the highest temperature of Joule heat generation heating is lower than 130 DEG C.

Description

technical field [0001] The invention relates to the field of flexible driving of soft robots, in particular to an electrically driven metal wire skeleton-spandex fiber twisted and rolled composite artificial muscle and a preparation method thereof. Background technique [0002] Compared with traditional rigid robots, soft robots composed of soft materials have safer human-computer interaction. Using their essential softness, they can complete many tasks that rigid robots cannot complete. They have been widely used in medical, handling and other fields. Soft robots are an extension of the robot category and play a very good supplementary role in the application of traditional robots. Among them, flexible drive technology (artificial muscles) is the core of soft robot technology and has become a popular research direction. [0003] At this stage, there are three realization forms for the drive of soft robots: pneumatic artificial muscle drive; rope drive; artificial muscle dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J19/00
CPCB25J9/1075B25J19/007
Inventor 杨桂林张昊杜庆皓沈雯钧郑天江张驰
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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