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An electrically driven metal wire skeleton-spandex fiber twisted composite artificial muscle and preparation method thereof

A spandex fiber and artificial muscle technology, which is applied in the manufacture of tools, program-controlled manipulators, manipulators, etc., can solve the problems of reduced load capacity and limited application of artificial muscles, and achieve large untwisting torque, low driving temperature, and high untwisting turns many effects

Active Publication Date: 2022-08-05
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • 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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  • An electrically driven metal wire skeleton-spandex fiber twisted composite artificial muscle and preparation method thereof
  • An electrically driven metal wire skeleton-spandex fiber twisted composite artificial muscle and preparation method thereof
  • An electrically driven metal wire skeleton-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 with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. The operation method without specifying the specific conditions in the following examples is usually in accordance with the conventional conditions, or in accordance with the conditions suggested by the manufacturer.

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

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

[0049] (2) Composite stage: with one end fixed, the other ...

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Abstract

The invention discloses an electrically driven metal wire skeleton-spandex fiber twist-rolled composite artificial muscle and a preparation method thereof, including: a pretreatment stage: pre-stretching and pre-twisting treatment of spandex fiber bundles in sequence; and a compound stage: The pretreated spandex fiber bundles are rotated and twisted to be spirally wound on the surface of the metal wire, and twisted to the limit number of turns while keeping the length of the metal wire-spandex fiber composite structure unchanged. The fixed end of the metal wire-spandex fiber composite structure with the limit number of turns is changed to the movable end and a certain load is applied, and the twisting is continued to obtain a twisted composite artificial muscle with a coil spring structure; annealing training stage: reduce the twist of the coil spring structure The coil-type composite artificial muscle is loaded at the active end, and the metal wire is loaded with intermittent current to repeatedly generate Joule heating and heat dissipation until the residual stress is eliminated, and the maximum temperature of Joule heating is less than 130 °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 composite artificial muscle and a preparation method thereof. Background technique [0002] Compared with traditional rigid robots, soft robots made of soft materials have safer human-computer interaction. Using their inherent softness, they can complete many tasks that rigid robots cannot. They have been widely used in medical, handling and other fields. The soft robot is an extension of the robot category and plays a good supplementary role in the application of traditional robots. Among them, flexible actuation technology (artificial muscles) is the core of soft robotics technology and has also become a popular research direction. [0003] At this stage, the drive of soft robots has three realization forms: pneumatic artificial muscle drive; rope drive; artificial muscle drive based on smart materi...

Claims

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Application Information

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Patent Type & Authority Patents(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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