Bionic flexible driver based on sarcomedo

Abstract

The invention discloses a bionic flexible driver based on sarcomels, and belongs to the technical field of soft robots. The driver comprises an external pneumatic artificial muscle driving unit group, an internal bionic stretch-draw integral framework, an upper connecting disc buckle group and a lower connecting disc buckle group. The external pneumatic artificial muscle driving unit set is composed of four external pneumatic artificial muscle driving units distributed in a cross shape and serves as an active driving source. The internal tensioning integral framework achieves self-balance and self-stabilization through prestress. Differential air pressure is applied to all the external pneumatic artificial muscle driving units, the external pneumatic artificial muscle driving units are controlled to generate non-uniform axial contraction, and therefore the whole body is driven to achieve controllable bending movement. According to the flexible actuator, the sarcomedo bionic principle and the tensegrity structure are fused, the rigidity and stability are remarkably improved while good flexibility is kept, the problems that a traditional flexible actuator is low in rigidity, slow in response and insufficient in deformation control precision are effectively solved, and the flexible actuator is suitable for robot operation scenes needing high flexibility and environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of soft robotics, and more particularly to a biomimetic flexible actuator based on sarcomeres. Background Technology

[0002] Soft robots, as an emerging branch of robotics, are based on the use of flexible materials to construct special structures that can respond to external stimuli and change shape. These structures endow robots with excellent adaptability and interactive safety, giving them significant advantages in scenarios such as grasping fragile objects and collaborating with humans.

[0003] In existing technologies, traditional rigid robots often face application limitations due to their complex structures and redundant control systems. For example, patent CN202510751377.9 discloses an underactuated manipulator based on a hybrid transmission of gears and tendon rope mechanisms. While it possesses some adaptive capabilities, its overall structure remains complex, leading to high manufacturing costs. On the other hand, most soft robots employ rope-driven motion control, such as the rope-driven underactuated adaptive soft manipulator proposed in patent CN201911355551.9. This manipulator adjusts its deformation and gripping force by displacing a drive rod, enabling it to safely grasp objects with complex shapes. However, this type of rope-driven method requires high control precision and has significant limitations in applications requiring high torque output or large-scale devices.

[0004] Pneumatic actuation is another common technical approach in the field of soft robotics, which can be divided into positive pressure actuation and negative pressure actuation. In positive pressure actuation, the airbag expands significantly due to inflation, which not only places high demands on the strength and ductility of the airbag material itself, but may also cause interference with surrounding components due to the extra space occupied after expansion. To achieve the desired deformation effect, its structure often requires meticulous design and optimization, increasing the complexity of the system design. For example, patent CN202310328857.5 proposes a finger-palm collaborative soft gripper that combines rope actuation and pneumatic actuation to enhance operational flexibility, but still faces practical problems such as complex winding systems and difficulties in airbag manufacturing.

[0005] In negative pressure actuation, the system response is typically slow due to the time delay in the gas extraction process, making rapid dynamic control difficult. Furthermore, continuous negative pressure can cause wrinkles, collapses, or even irreversible damage to flexible structures, affecting the actuator's lifespan and motion accuracy.

[0006] In existing technologies, biomimetic sarcomeres typically suffer from complex structures and numerous components, resulting in large overall size and weight, and are often assembled using rigid components. Such structures not only lack the compliance expected of biological muscles but also limit their mobility and environmental adaptability to some extent. For example, patent CN202311659402.8 proposes an electromagnetic biomimetic sarcomere with a relatively simplified structure that can simulate the contraction behavior of sarcomeres. However, this solution uses an electromagnetic drive, resulting in a still large overall device size, making it unsuitable for space-sensitive or high-precision operational scenarios. Summary of the Invention

[0007] The purpose of this invention is to overcome the problems of insufficient stiffness and slow response caused by the material properties of existing flexible actuators, and to provide a novel positive pressure driven flexible actuator with biomimetic structure, adjustable stiffness, and good compliance and support.

[0008] To achieve the above objectives, this invention provides a biomimetic flexible actuator based on sarcomeres. It mimics the microstructure and contraction mechanism of human sarcomeres and integrates them with a tensioned overall structure. An external pneumatic artificial muscle actuation unit simulates the fine filaments within the sarcomere as the active actuation unit, elastic components simulate thick filaments, and rigid connectors simulate cross-bridges. The elastic components simulating thick filaments and the rigid connectors simulating cross-bridges are coupled together to form an internal biomimetic tensioned overall skeleton with self-balancing and self-stabilizing properties.

[0009] This invention significantly improves the overall stiffness and response speed of the actuator while retaining the safety and deformation capability of flexible materials. Furthermore, the actuator described in this invention possesses self-recovery and self-stabilizing characteristics, and its stiffness can be easily adjusted by replacing internal elastic components; its performance improvement does not come at the expense of motion flexibility.

[0010] It should be noted that the naming of related components in this invention is for descriptive purposes only and is used to illustrate the technical solution. It should not be construed as a limitation of this invention.

[0011] This invention proposes a biomimetic flexible actuator based on sarcomeres, which mainly includes an external pneumatic artificial muscle driving unit assembly and an internal biomimetic tensioned integral skeleton. The external pneumatic artificial muscle driving unit assembly and the internal biomimetic tensioned integral skeleton are connected by a connecting plate and a connecting buckle to position and determine the relative position between the external pneumatic artificial muscle driving unit assembly and the internal biomimetic tensioned integral skeleton.

[0012] The external pneumatic artificial muscle drive unit group consists of four external pneumatic artificial muscle drive units arranged in a cross shape, which on the one hand provide support for the overall structure, and on the other hand serve as an active drive source to output power.

[0013] The external pneumatic artificial muscle drive unit consists of an internal elastic straight tube, an external braided mesh, a clamping device, and a venting tube. The internal elastic straight tube is a silicone flexible tube with an axial through hole, one end of which is sealed, and the other end has a vent. The external braided mesh is covered and constrained to the outside of the elastic straight tube by the clamping devices at both ends. The venting tube is fixedly connected to the venting hole for connecting to an external air source.

[0014] It should be noted that, in order to solve the problem of unintended stretching motion caused by the axial elongation deformation being greater than the radial expansion of the external pneumatic artificial muscle driving unit in positive pressure drive, the aforementioned external woven mesh adopts structures or materials with small axial deformation and large radial deformation, including but not limited to nylon woven mesh and aramid woven mesh. Its function is to effectively constrain the radial expansion of the internal elastic straight tube and convert it into axial contraction motion, thereby suppressing unintended axial stretching and overcoming problems such as excessive expansion, uncontrollable deformation and difficulty in airbag preparation in traditional positive pressure drive.

[0015] The clamping device employs structures including, but not limited to, cable ties and glands for circumferential fixation, with the fundamental purpose of limiting the relative movement between the outer braided mesh and the inner elastic straight tube.

[0016] The internal biomimetic tensioned integral skeleton mainly includes an upper base plate, a lower base plate, an upper spring assembly, a lower spring assembly, an upper support rod assembly, a lower support rod assembly, an upper steering knuckle, a lower steering knuckle, and a central support rod. The upper support rod assembly, the upper spring assembly, and the upper half of the central support rod together form one tensioned integral. The lower support rod assembly, the lower spring assembly, and the lower half of the central support rod together form another tensioned integral. The two tensioned integrals are connected in series by the central support rod to form a continuous biomimetic skeleton main shaft. This skeleton structure achieves self-balancing and self-stabilization through internal prestressing, significantly improving the overall stiffness of the actuator and effectively overcoming the problem of weak rigidity caused by the material properties of traditional flexible actuators. It is worth noting that the increased stiffness stems from the mechanical properties of the internal skeleton and does not sacrifice the actuator's flexible function; its multi-mode motion capabilities, such as bending and contraction, are fully preserved. Furthermore, the inherent internal stress distribution of the tensioned integral structure further enhances the system's stability, giving it superior anti-interference capabilities under load and vibration environments.

[0017] The upper and lower steering knuckles are fixedly connected to the middle positions of the upper and lower support rod assemblies via optical axes, respectively, to constrain the displacement and rotation of the central support rod.

[0018] It should be noted that the bending motion capability of this invention stems from its unique driving mechanism. By applying differentiated air intake volumes to the external pneumatic artificial muscle driving units on different sides, corresponding differentiated axial contractions are generated. This inconsistency in the amount of contraction allows the actuator to exhibit a controllable bending posture overall. Furthermore, by changing the relevant parameters of the spring, the stiffness of the actuator can be adjusted to suit the usage requirements in different environments.

[0019] Technical Effects: This invention proposes a biomimetic flexible actuator based on sarcomeres by mimicking the movement principles of human muscle sarcomeres and combining it with a tensioned integral structure. Its internal biomimetic tensioned integral skeleton significantly improves overall stiffness and stability through prestressing, effectively overcoming the shortcomings of traditional flexible actuators such as weak rigidity and poor stability. By differentially controlling the air pressure of four external pneumatic artificial muscle drive units, accurate bending motion is achieved, and a special woven mesh structure ensures the reliability of axial contraction under positive pressure drive, solving the problems of uncontrollable deformation and slow response in traditional pneumatic solutions. Furthermore, the actuator's stiffness can be easily adjusted by replacing the internal springs, and its performance improvement does not sacrifice inherent flexibility and multi-mode motion capabilities, thus combining stable support, rapid and precise deformation, and good environmental adaptability. Attached Figure Description

[0020] To more clearly illustrate the technical solution of the present invention, the accompanying drawings involved in the embodiments will be briefly described below. It should be understood that the following drawings are only schematic diagrams of some embodiments and are not intended to limit the present invention. Those skilled in the art can obtain other embodiments based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a biomimetic flexible actuator based on sarcomeres, provided as an embodiment of the present invention.

[0022] Figure 2 This is a partially exploded view of a biomimetic flexible actuator based on sarcomeres provided in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the structure of an external pneumatic artificial muscle driving unit based on a sarcomere-inspired bionic flexible actuator, provided as an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the internal biomimetic tensioning integral skeleton of a biomimetic flexible actuator based on sarcomeres, provided as an embodiment of the present invention.

[0025] Figure 5 This is a partially exploded view of the internal biomimetic tensioned integral skeleton of a biomimetic flexible actuator based on sarcomeres, provided as an embodiment of the present invention.

[0026] Labeling Explanation: 1. External pneumatic artificial muscle drive unit group; 101. First external pneumatic artificial muscle drive unit; 102. Second external pneumatic artificial muscle drive unit; 103. Third external pneumatic artificial muscle drive unit; 104. Fourth external pneumatic artificial muscle drive unit; 1001. Internal elastic straight tube; 1002. External woven mesh; 1003. Clamping device; 1004. Ventilation tube; 2. Internal biomimetic tensioned integral skeleton; 201. Upper base plate; 202. Upper spring group; 20201. First upper spring; 2020 2. Second upper spring; 20203. Third upper spring; 20204. Fourth upper spring; 203. Upper support rod assembly; 20301. First upper support rod; 20302. Second upper support rod; 204. Upper steering knuckle; 205. Upper eyelet assembly; 20501. First upper eyelet; 20502. Second upper eyelet; 20503. Third upper eyelet; 20504. Fourth upper eyelet; 20505. Fifth upper eyelet; 20506. Sixth upper eyelet; 20507. Seventh upper eyelet; 20508. Eighth... 206. Upper eyelet pin; 207. Lower base plate; 208. Lower spring assembly; 209. First lower spring; 2001. Second lower spring; 2002. Third lower spring; 2003. Fourth lower spring; 2004. Fourth lower spring; 201. Lower support rod assembly; 2001. First lower support rod; 2002. Second lower support rod; 201. Lower steering knuckle; 212. Lower eyelet pin assembly; 213. First lower eyelet pin; 214. Second lower eyelet pin; 215. Third lower eyelet pin; 216. Fourth lower eyelet pin; 217. Fifth lower eyelet pin; 208. Lower support rod assembly; 208. First lower support rod; 208. Second lower support rod; 208. Lower steering knuckle; 218. Lower eyelet pin assembly; 219. Lower eyelet pin assembly; 2002. First lower eyelet pin; 21003. Third lower eyelet pin; 21004. Fourth lower eyelet pin; 21005. Fifth lower eyelet pin; Lower eyelet pin; 21006, Sixth lower eyelet pin; 21007, Seventh lower eyelet pin; 21008, Eighth lower eyelet pin; 211, Central support rod; 3, Upper connecting disc buckle assembly; 301, Upper connecting disc; 302, First upper connecting buckle; 303, Second upper connecting buckle; 304, Third upper connecting buckle; 305, Fourth upper connecting buckle; 4, Lower connecting disc buckle assembly; 401, Lower connecting disc; 402, First lower connecting buckle; 403, Second lower connecting buckle; 404, Third lower connecting buckle; 405, Fourth lower connecting buckle. Detailed Implementation

[0027] The following description, in conjunction with the accompanying drawings, provides a detailed account of specific embodiments of the present invention. It should be understood that the same or similar reference numerals in the drawings correspond to the same or similar elements or functional modules. This description, in conjunction with the accompanying drawings, is for illustrative purposes only and is intended to clarify the technical solutions of the present invention; it should not be construed as limiting the scope of protection of the present invention in any way.

[0028] In the description of this invention, it should be noted that terms such as "center," "upper," "lower," "both sides," "axial," and "radial," indicating direction or positional relationships, are defined based on the orientation or positional relationships shown in the accompanying drawings. Such definitions are merely for the convenience of describing the invention and simplifying the explanation, and should not be construed as limiting the invention. Similarly, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as limiting the number of technical features described. Based on this description, a feature specified as "X" may explicitly or implicitly include one or more of that feature. Furthermore, unless otherwise explicitly specified, "multiple" in this invention means two or more.

[0029] The different embodiments or examples provided in this invention are used to illustrate the possible structures and variations of the invention. For the sake of simplicity, specific components and their configurations in particular examples will be described in detail. It should be emphasized that these descriptions are merely illustrative and not intended to limit the invention.

[0030] It should also be noted that the same reference numerals may be used repeatedly in different embodiments of the present invention, or some repetitive elements may be simplified. This is only for the purpose of pursuing conciseness and clarity of expression, and does not imply any specific relationship between the different implementation methods or structures, nor should it be construed as a limitation of the present invention.

[0031] Please see Figure 1 and Figure 2 This invention provides a biomimetic flexible actuator based on sarcomeres, which mainly includes an external pneumatic artificial muscle driving unit group 1 and an internal biomimetic tensioned integral skeleton 2. The external pneumatic artificial muscle driving unit group 1 and the internal biomimetic tensioned integral skeleton 2 are assembled and connected by an upper connecting disc buckle group 3 and a lower connecting disc buckle group 4, respectively. Specifically, the first external pneumatic artificial muscle driving unit 101 is connected and fixed to the upper connecting disc 301 and the lower connecting disc 401 by a first upper connecting buckle 302 and a first lower connecting buckle 402, respectively. The second external pneumatic artificial muscle driving unit 102 is connected and fixed to the upper connecting disc 301 and the lower connecting disc 401 by a second upper connecting buckle 303 and a second lower connecting buckle 403, respectively. The third external pneumatic artificial muscle driving unit 103 is connected and fixed to the upper connecting disc 301 and the lower connecting disc 401 by a third upper connecting buckle 304 and a third lower connecting buckle 404, respectively. The fourth external pneumatic artificial muscle drive unit 104 is connected and fixed to the upper connecting plate 301 and the lower connecting plate 401 respectively through the fourth upper connecting buckle 305 and the fourth lower connecting buckle 405. The internal biomimetic tension integral frame 2 is reliably connected to the upper connecting plate 301 and the lower connecting plate 401 respectively through its upper base plate 201 and lower base plate 206 and by screw connection.

[0032] See Figures 1 to 3 The external pneumatic artificial muscle drive unit group 1 includes a first external pneumatic artificial muscle drive unit 101, a second external pneumatic artificial muscle drive unit 102, a third external pneumatic artificial muscle drive unit 103, and a fourth external pneumatic artificial muscle drive unit 104. Each of these units comprises an internal elastic straight tube 1001, an external braided mesh 1002, a clamping device 1003, and a venting pipe 1004. Specifically, the internal elastic straight tube 1001 has an axial through hole, one end of which is a sealed encapsulation structure, and the other end has a vent. The external braided mesh 1002 is covered and constrained to the outer peripheral surface of the internal elastic straight tube 1001 by the clamping devices 1003 at both ends. The venting pipe 1004 is fixedly connected to the vent and is used to connect to an external air source. Based on the structural characteristics of the outer braided mesh 1002, which exhibits large radial deformation and small axial deformation, the radial expansion of the inner elastic straight tube 1001 is effectively constrained and converted into axial contraction when gas is introduced. This mechanism effectively suppresses unintended axial stretching and overcomes problems such as excessive expansion, difficulty in deformation control, and complex airbag fabrication in traditional positive pressure drives.

[0033] See Figure 4 and Figure 5 The internal biomimetic tensioning skeleton 2 mainly includes an upper base plate 201, a lower base plate 206, an upper spring assembly 202, a lower spring assembly 207, an upper support rod assembly 203, a lower support rod assembly 208, an upper steering knuckle 204, a lower steering knuckle 209, and a central support rod 211. The upper spring assembly 202, the upper support rod assembly 203, and the upper part of the central support rod 211 are connected to each other with the upper eyelet assembly 205, forming an upper tensioning unit. The lower spring assembly 207, the lower support rod assembly 208, and the lower part of the central support rod 211 are connected to each other with the lower eyelet assembly 210, forming a lower tensioning unit.

[0034] See Figure 4 and Figure 5Specifically, each spring in the upper spring assembly 202 and the lower spring assembly 207 is connected to the upper support rod assembly 203 or the lower support rod assembly 208 and the central support rod 211 via a corresponding upper eyelet assembly 205 or lower eyelet assembly 210. The specific connection relationships are as follows: The first upper spring 20201 is connected between the first upper support rod 20301 and the upper half of the central support rod 211 via the first upper eyelet 20501 and the second upper eyelet 20502. The second upper spring 20202 is connected between the first upper support rod 20301 and the upper half of the central support rod 211 via the third upper eyelet 20503 and the fourth upper eyelet 20504. The third upper spring 20203 is connected between the second upper support rod 20302 and the upper half of the central support rod 211 via the fifth upper eyelet 20505 and the sixth upper eyelet 20506. The fourth upper spring 20204 is connected between the second upper support rod 20302 and the upper half of the central support rod 211 via the seventh upper eyelet 20507 and the eighth upper eyelet 20508. The first lower spring 20701 is connected between the first lower support rod 20801 and the lower half of the central support rod 211 via the first lower eyelet 21001 and the second lower eyelet 21002. The second lower spring 20702 is connected between the first lower support rod 20801 and the lower half of the central support rod 211 via the third lower eyelet 21003 and the fourth lower eyelet 21004. The third lower spring 20703 is connected between the second lower support rod 20802 and the lower half of the central support rod 211 via the fifth lower eyelet 21005 and the sixth lower eyelet 21006. The fourth lower spring 20704 is connected between the second lower support rod 20802 and the lower half of the central support rod 211 via the seventh lower eyelet 21007 and the eighth lower eyelet 21008.

[0035] See Figure 4 and Figure 5 Furthermore, the upper steering knuckle 204 is mounted between the first upper support rod 20301 and the second upper support rod 20302 via an optical axis, and the lower steering knuckle 209 is mounted between the first lower support rod 20801 and the second lower support rod 20802 via an optical axis. The steering knuckle structure constrains the displacement and rotation of the central support rod 211, thereby connecting the upper and lower tensioning integral units in series into a continuous biomimetic skeleton main shaft.

[0036] It should be noted that the increased stiffness in this invention stems from the unique mechanical properties of the internal biomimetic tensioned integral skeleton 2. These properties significantly enhance the structural load-bearing capacity without affecting the inherent flexibility of the actuator. Its multi-mode motion capabilities, including bending and contraction, are fully maintained. Furthermore, based on the inherent prestress distribution mechanism of the tensioned integral structure, the system stability is further enhanced, exhibiting excellent anti-interference performance under load variations and vibration conditions. This invention effectively solves the key problems of weak load-bearing capacity and poor stability caused by insufficient rigidity in traditional flexible actuators.

[0037] It should be noted that the bending motion capability of this invention is achieved based on its differential drive mechanism. By applying different air intake volumes to the first external pneumatic artificial muscle drive unit 101, the second external pneumatic artificial muscle drive unit 102, the third external pneumatic artificial muscle drive unit 103, and the fourth external pneumatic artificial muscle drive unit 104, and using a mature differential detection and feedback algorithm, the non-uniform axial contraction of each unit can be controlled. This asymmetrical distribution of contraction causes the actuator as a whole to exhibit controllable bending deformation. Furthermore, by adjusting the structural parameters of the upper spring assembly 202 and the lower spring assembly 207, the overall stiffness of the actuator can be effectively adjusted, thereby adapting it to application scenarios with different loads or precision requirements.

[0038] The above description is merely a specific embodiment of the present invention, used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any non-creative modifications, adaptive adjustments, and reasonable variations made by those skilled in the art based on the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A biomimetic flexible actuator based on sarcomeres, characterized in that, include: The external pneumatic artificial muscle drive unit group (1) is composed of a first external pneumatic artificial muscle drive unit (101), a second external pneumatic artificial muscle drive unit (102), a third external pneumatic artificial muscle drive unit (103), and a fourth external pneumatic artificial muscle drive unit (104) arranged in a cross shape; the internal bionic tension integral skeleton (2) is set at the internal center of the external pneumatic artificial muscle drive unit group (1); the upper connecting disc buckle group (3) and the lower connecting disc buckle group (4) are used to connect the external pneumatic artificial muscle drive unit group (1) and the internal bionic tension integral skeleton (2) and define their relative positions; wherein, the external pneumatic artificial muscle drive unit group (1) is an active drive source that can generate axial contraction under air pressure, while the internal bionic tension integral skeleton (2) achieves self-balance and self-stability through internal prestress, providing further rigidity and stability for the actuator.

2. The biomimetic flexible actuator based on sarcomeres according to claim 1, characterized in that: The first external pneumatic artificial muscle drive unit (101), the second external pneumatic artificial muscle drive unit (102), the third external pneumatic artificial muscle drive unit (103), and the fourth external pneumatic artificial muscle drive unit (104) all include an internal elastic straight tube (1001), an external braided mesh (1002), a clamping device (1003), and a venting tube (1004). The internal elastic straight tube (1001) is provided with an axial through hole and one end is sealed while the other end is provided with a venting hole. The external braided mesh (1002) covers and constrains the outer periphery of the internal elastic straight tube (1001). The clamping device (1003) is provided at both ends of the external braided mesh (1002) to limit the relative movement between it and the internal elastic straight tube (1001). The venting tube (1004) is fixedly connected to the venting hole for connecting to an external air source.

3. The biomimetic flexible actuator based on sarcomeres according to claim 2, characterized in that: The outer braided mesh (1002) is a braided mesh with large radial deformation and small axial deformation, which is used to constrain the radial expansion of the inner elastic straight tube (1001) and convert it into reliable axial contraction motion.

4. The biomimetic flexible actuator based on sarcomeres according to claim 1, characterized in that: The internal biomimetic tensioned integral skeleton (2) includes an upper base plate (201), a lower base plate (206), a central support rod (211), an upper support rod assembly (203), a lower support rod assembly (208), an upper spring assembly (202), a lower spring assembly (207), an upper eyelet assembly (205), a lower eyelet assembly (210), an upper steering knuckle (204), and a lower steering knuckle (209); wherein, the upper spring assembly (202), the upper support rod assembly (203), and the upper part of the central support rod (211) are connected. The upper tensioning unit is formed by connecting the upper eyelet group (205). The lower spring group (207), the lower support rod group (208) and the lower half of the central support rod (211) are connected by the lower eyelet group (210) to form the lower tensioning unit. The upper and lower tensioning units are connected in series by the central support rod (211) to form a continuous bionic skeleton main shaft. The upper steering knuckle (204) and the lower steering knuckle (209) are used to constrain the displacement and rotation of the central support rod (211).

5. The biomimetic flexible actuator based on sarcomeres according to claim 4, characterized in that: By replacing or adjusting the structural parameters of the springs in the upper spring group (202) and the lower spring group (207) of the internal biomimetic tensioned integral skeleton (2), the overall stiffness of the actuator can be conveniently adjusted to adapt to different application requirements.

6. The biomimetic flexible actuator based on sarcomeres according to claim 1, characterized in that: The upper connecting disc fastener group (3) includes an upper connecting disc (301), a first upper connecting buckle (302), a second upper connecting buckle (303), a third upper connecting buckle (304), and a fourth upper connecting buckle (305). The lower connecting disc fastener group (4) includes a lower connecting disc (401), a first lower connecting buckle (402), a second lower connecting buckle (403), a third lower connecting buckle (404), and a fourth lower connecting buckle (405). The first external pneumatic artificial muscle driving unit (101), the second external pneumatic artificial muscle driving unit (102), the third external pneumatic artificial muscle driving unit (103), and the fourth external pneumatic artificial muscle driving unit (105) are also included. The two ends of the artificial muscle drive unit (104) are connected to the upper connecting plate (301) and the lower connecting plate (401) respectively through the corresponding first upper connecting buckle (302), first lower connecting buckle (402), second upper connecting buckle (303), second lower connecting buckle (403), third upper connecting buckle (304), third lower connecting buckle (404), fourth upper connecting buckle (305) and fourth lower connecting buckle (405). At the same time, the upper base plate (201) and the lower base plate (206) of the internal bionic tension integral skeleton (2) are fixedly connected to the upper connecting plate (301) and the lower connecting plate (401) respectively by screws.

7. The biomimetic flexible actuator based on sarcomeres according to claim 1, characterized in that: By applying differentiated air pressures to the first external pneumatic artificial muscle drive unit (101), the second external pneumatic artificial muscle drive unit (102), the third external pneumatic artificial muscle drive unit (103), and the fourth external pneumatic artificial muscle drive unit (104), it is possible to control each unit to produce inconsistent axial contraction, thereby driving the entire bionic flexible actuator to produce controllable bending motion.

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