Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube

A pneumatic artificial muscle, two-way linear technology, used in manufacturing tools, program-controlled manipulators, manipulators, etc., can solve the problems of small contraction, only one-way drive, slow response speed, etc., to achieve simple production process, charging and discharging. The effect of high air velocity and reduced driving air pressure

Active Publication Date: 2022-03-01
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

For example, through structural design, the air cavity has expansion anisotropy, and then inflation can produce axial contraction, but the shrinkage produced by this driving method is not large, and the response speed is slow; in addition, gas drive can also be realized by designing origami structures. , but it also has the disadvantages of slow response speed and only one-way drive

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  • Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube
  • Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube
  • Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube

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Embodiment Construction

[0031] In order to fully understand the purpose, features and functions of the present invention, the present invention will be described in detail through the following specific implementation manners. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0032] Take the helically wound artificial muscle that outputs unidirectional tension as an example (such as figure 1 shown), the artificial muscle is composed of a tubular elastic cavity and a braided tube wrapped around it, and forms a helically wound structure by winding the mandrel and heat setting. Other components include a trachea, an air gauge, an air valve, a rotating restrictive agencies, et...

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Abstract

The invention relates to the technical field of linear driving of soft robots, in particular to a bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on a braided tube. The characteristic that the mechanical property of the spiral braided tube changes along with internal expansion is utilized to achieve output of force and displacement. The expansion direction of the braided tube can be influenced by the load applying direction, so that when the load directions are different, the directions of output force and displacement are different, and bidirectional driving is realized. Compared with other pneumatic artificial muscles, the pneumatic artificial muscle is smaller in air cavity volume and higher in inflation and deflation speed, and the pneumatic artificial muscle has the advantages that the driving air pressure is reduced, the shrinkage rate is increased and the response speed is high while the high mass ratio and the power ratio of the conventional pneumatic artificial muscle are kept.

Description

technical field [0001] The invention relates to the technical field of linear drive of soft robots, in particular to a bidirectional linear fast-response spiral-wound pneumatic artificial muscle based on a braided tube. Background technique [0002] With the rapid development of smart materials in recent years, flexible actuators based on smart materials have become a current research hotspot. As a typical flexible actuator, artificial muscle can produce reversible contraction, rotation, bending and their combined motion under external excitation conditions (electricity, light, heat, magnetism, humidity and electrochemical, etc.), and the output is similar to The power of biological muscles, in addition, artificial muscles can withstand large loads and large deformations. Compared with traditional rigid actuators, artificial muscles have the advantages of unlimited degrees of freedom, high output energy density, good flexibility, and good biocompatibility, and have importan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1075B25J9/142F15B15/00
Inventor 胡兴好王健丁建宁王一伦程广贵
Owner JIANGSU UNIV
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