A biomimetic flexible driver based on sarcomere

Abstract

The application discloses a kind of based on sarcomere's bionic flexible driver, belong to soft robot technical field.The driver includes external pneumatic artificial muscle driving unit group, internal bionic tension integral framework and upper and lower connecting disc buckle group.External pneumatic artificial muscle driving unit group is made of four external pneumatic artificial muscle driving units distributed in cross shape, as active driving source;Internal tension integral framework realizes self-balancing and self-stabilization by prestress.By differentiating pressure to each external pneumatic artificial muscle driving unit, control its generation non-uniform axial contraction, to drive the whole realization controllable bending movement.The application fuses sarcomere bionic principle and tension integral structure, while maintaining good compliance, significantly improves stiffness and stability, effectively solves the problem of weak rigidity, slow response and insufficient deformation control precision of traditional flexible driver, and is suitable for robot operation scene needing high flexibility and environmental adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soft robot, and particularly relates to a bionic flexible driver based on sarcomere. BACKGROUND

[0002] As an emerging branch of robot technology, the core of soft robot is to use flexible materials to build special structures that can respond to external stimuli and achieve morphological changes. Such structures endow robots with good compliance and interaction safety, making them have obvious advantages in grasping fragile objects and collaborating with humans.

[0003] In the prior art, traditional rigid robots usually face application limitations due to complex structure, redundant control system and other problems. For example, patent CN202510751377.9 discloses an underactuated manipulator based on a hybrid transmission of gear and tendon mechanism, which has certain self-adaptive ability, but the overall structure is still complex, resulting in high manufacturing cost. On the other hand, most soft robots use rope driving method for motion control, such as the rope-driven underactuated adaptive soft manipulator proposed in patent CN201911355551.9, which adjusts the deformation degree and gripping force of the manipulator through the displacement of the driving rod, and can safely grasp complex-shaped objects. However, this kind of rope driving method has high requirements for control accuracy, and has obvious limitations in application environments that require large torque output or large-scale devices.

[0004] Pneumatic driving is another common technical path in the field of soft robots, which can be divided into positive pressure driving and negative pressure driving modes. In the positive pressure driving process, the air bag will significantly expand in volume due to inflation, which not only puts high requirements on the strength and ductility of the air bag material itself, but also may interfere with the surrounding parts due to the occupation of additional space after expansion. In order to achieve the expected deformation effect, it is often necessary to finely design and optimize its structure, increasing the complexity of system design. For example, patent CN202310328857.5 proposes a finger-palm cooperative soft gripper, which combines rope driving and air driving to enhance operational flexibility, but still faces practical problems such as complex winding system and difficult air bag manufacturing.

[0005] In negative pressure driving, the system response speed is usually slow due to the time delay in the process of gas extraction, making it difficult to achieve fast dynamic control. In addition, the continuous negative pressure action is easy to cause the flexible structure to wrinkle, collapse or even irreversible damage, affecting the service life and motion accuracy of the driver.

[0006] In the prior art, bionic sarcomeres usually have the problems of complex structure, numerous parts, resulting in large overall size and high weight, and are mostly assembled by rigid components. Such structure not only lacks the compliance of biological muscles, but also limits the motion flexibility and environmental adaptability to some extent. For example, patent CN202311659402.8 proposes an electromagnetic bionic sarcomere, which has a relatively simplified structure and can simulate the contraction behavior of sarcomeres. However, the electromagnetic driving mode adopted by this scheme results in a still large device volume, which is difficult to apply to space-sensitive or high-precision operation scenarios. SUMMARY

[0007] The present application aims to overcome the problems of insufficient stiffness and slow response of existing flexible drivers caused by material properties, and to provide a new positive pressure driven flexible driver with structural bionics, adjustable stiffness, and good compliance and support.

[0008] To achieve the above-mentioned purpose, the present application provides a bionic flexible driver based on sarcomere. It simulates the microstructure and contraction mechanism of human sarcomere and is combined with tensegrity structure. The external pneumatic artificial muscle driving unit simulates the thin myofilament in the sarcomere as the active driving unit, the elastic component simulates the thick myofilament, and the rigid connecting piece simulates the transverse bridge. Among them, the elastic component simulating the thick myofilament and the rigid connecting piece simulating the transverse bridge are coupled with each other to form an internal bionic tensegrity skeleton with self-balancing and self-stabilizing characteristics.

[0009] The present application significantly improves the overall stiffness and response speed of the driver, while retaining the safety and deformation ability of flexible materials. In addition, the driver described in the present application has self-recovery and self-stabilizing characteristics, and can conveniently realize stiffness adjustment by replacing the internal elastic component, and its performance improvement does not come at the expense of motion flexibility.

[0010] It should be noted that the naming of related components in the present application is only for the purpose of description and should not be understood as a limitation of the present application.

[0011] The present application proposes a bionic flexible driver based on sarcomere, which mainly includes an external pneumatic artificial muscle driving unit group and an internal bionic tensegrity skeleton. The external pneumatic artificial muscle driving unit group and the internal bionic tensegrity skeleton are connected by connecting the disc with the buckle to position and determine the relative position between the external pneumatic artificial muscle driving unit and the internal bionic tensegrity skeleton.

[0012] The external pneumatic artificial muscle driving unit group is composed of four external pneumatic artificial muscle driving units arranged in a cross shape, which provides support for the overall structure and serves as the main driving source to output power.

[0013] The external pneumatic artificial muscle driving unit is composed of an internal elastic straight pipe, an external woven mesh, a clamping device and a ventilation pipe. The internal elastic straight pipe is a silica gel hose with an axial through hole, one end of which is sealed and packaged, and the other end of which is provided with a ventilation hole. The external woven mesh is wrapped and constrained outside the elastic straight pipe through the clamping device at both ends. The ventilation pipe is fixedly connected to the ventilation hole for external connection of the air source.

[0014] It should be noted that, in order to solve the problem of unexpected stretching movement caused by the large axial elongation deformation of the external pneumatic artificial muscle driving unit in the positive pressure driving, the above-mentioned external woven mesh adopts a structure or material with small axial deformation and large radial deformation, including but not limited to nylon woven mesh, aramid woven mesh, etc. The function of the external woven mesh is to effectively constrain and convert the radial expansion of the internal elastic straight pipe into axial contraction movement, thereby inhibiting the unexpected axial stretching and overcoming the problems of excessive expansion, uncontrollable deformation and difficulty in preparing the air bag in the traditional positive pressure driving.

[0015] The clamping device adopts a structure for circumferential fixation, including but not limited to a cable tie, a gran head, etc. The fundamental purpose of the clamping device is to limit the relative movement between the external woven mesh and the internal elastic straight pipe.

[0016] The internal bionic tensegrity framework mainly includes an upper bottom plate, a lower bottom plate, an upper spring group, a lower spring group, an upper support rod group, a lower support rod group, an upper knuckle, a lower knuckle and a center support rod. The upper support rod group, the upper spring group and the upper half of the center support rod together form a tensegrity. The lower support rod group, the lower spring group and the lower half of the center support rod together form another tensegrity. The two tensegrities are connected in series through the center support rod to form a continuous bionic framework main shaft. The framework structure realizes self-balancing and self-stabilizing through internal prestress, which significantly improves the overall stiffness of the driver and effectively overcomes the problem of weak rigidity caused by material characteristics in traditional flexible drivers. It is worth noting that the increase in stiffness is due to the mechanical properties of the internal framework, and does not sacrifice the flexibility of the driver, and the multi-mode motion ability such as bending and contraction is completely retained. In addition, the inherent stress distribution of the tensegrity structure further improves the system stability, making it have better anti-interference ability in the load and vibration environment.

[0017] The upper knuckle and the lower knuckle are fixedly connected to the middle positions of the upper support rod group and the lower support rod group through the optical axis, respectively, for constraining the displacement and rotation of the center support rod.

[0018] It should be noted that the bending motion capability of the present application is derived from its unique driving mechanism. By applying different air intake amounts to the external pneumatic artificial muscle driving units on different sides, corresponding differential axial contraction is generated. The inconsistency of this contraction amount makes the driver as a whole exhibit a controllable bending posture. In addition, by changing the relevant parameters of the spring, the stiffness of the driver can be adjusted to suit the use requirements in different environments.

[0019] Technical effects: The present application simulates the movement principle of human muscle small sections and combines with the tensegrity structure to propose a bionic flexible driver based on muscle small sections. The internal bionic tensegrity skeleton significantly improves the overall stiffness and stability through prestress, effectively overcoming the defects of weak rigidity and poor stability of traditional flexible drivers. By differentially controlling the air pressure of the four external pneumatic artificial muscle driving units, accurate bending motion is achieved, and the special woven mesh structure ensures the reliability of axial contraction under positive pressure driving, solving the problems of uncontrollable deformation and slow response of traditional pneumatic schemes. In addition, the driver can conveniently adjust the stiffness by replacing the internal spring, and the performance improvement does not sacrifice the inherent flexibility and multi-mode motion capability, thereby combining stable support, fast and accurate deformation, and good environmental adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly set forth the technical solutions of the present application, the following will briefly describe the drawings involved in the embodiments. It should be understood that the following drawings are only schematic diagrams of some embodiments, and are not a limitation of the present application. Those skilled in the art can also obtain other embodiments from these drawings without creative labor.

[0021] Figure 1 A structure schematic diagram of a bionic flexible driver based on muscle small sections is provided for the embodiments of the present application.

[0022] Figure 2 A partial exploded view of a bionic flexible driver based on muscle small sections is provided for the embodiments of the present application.

[0023] Figure 3 A structure schematic diagram of an external pneumatic artificial muscle driving unit of a bionic flexible driver based on muscle small sections is provided for the embodiments of the present application.

[0024] Figure 4 A structure schematic diagram of an internal bionic tensegrity skeleton of a bionic flexible driver based on muscle small sections is provided for the embodiments of the present application.

[0025] Figure 5 A partial exploded view of an internal bionic tensegrity skeleton of a bionic flexible driver based on muscle small sections is provided for the embodiments of the present application.

[0026] Label Explanation: 1, external pneumatic artificial muscle driving unit group; 101, first external pneumatic artificial muscle driving unit; 102, second external pneumatic artificial muscle driving unit; 103, third external pneumatic artificial muscle driving unit; 104, fourth external pneumatic artificial muscle driving unit; 1001, internal elastic straight pipe; 1002, external woven mesh; 1003, clamping device; 1004, air pipe; 2, internal bionic tensile whole skeleton; 201, upper bottom plate; 202, upper spring group; 20201, first upper spring; 20202, second upper spring; 20203, third upper spring; 20204, fourth upper spring; 203, upper support rod group; 20301, first upper support rod; 20302, second upper support rod; 204, upper knuckle; 205, upper eyelet nail group; 20501, first upper eyelet nail; 20502, second upper eyelet nail; 20503, third upper eyelet nail; 20504, fourth upper eyelet nail; 20505, fifth upper eyelet nail; 20506, sixth upper eyelet nail; 20507, seventh upper eyelet nail; 20508, eighth upper eyelet nail; 206, lower bottom plate; 207, lower spring group; 20701, first lower spring; 20702, second lower spring; 20703, third lower spring; 20704, fourth lower spring; 208, lower support rod group; 20801, first lower support rod; 20802, second lower support rod; 209, lower knuckle; 210, lower eyelet nail group; 21001, first lower eyelet nail; 21002, second lower eyelet nail; 21003, third lower eyelet nail; 21004, fourth lower eyelet nail; 21005, fifth lower eyelet nail; 21006, sixth lower eyelet nail; 21007, seventh lower eyelet nail; 21008, eighth lower eyelet nail; 211, center support rod; 3, upper connecting disc buckle group; 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 group; 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 DESCRIPTION

[0027] The following description will be combined with the drawings to explain the specific embodiments of the present application in detail. It should be understood that the same or similar reference numerals in the drawings correspond to the same or similar elements or functional modules. The description of the present application in conjunction with the drawings is only for exemplary purposes and is intended to illustrate the technical solutions of the present application, and should not be interpreted as any limitation on the scope of protection of the present application.

[0028] In the description of the present application, it should be noted that the terms of "center", "upper", "lower", "two sides", "axial", "radial" and other terms indicating direction or positional relationship are defined based on the orientation or positional relationship shown in the drawings. Such definitions are only for the convenience of describing the present application and simplifying the description, and cannot be understood as a limitation of the present application. At the same time, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance, nor should be understood as limiting the number of the technical features described. Based on the description, the features with "Xth" can explicitly or implicitly include one or more features. In addition, unless otherwise explicitly and specifically limited, the meaning of "multiple" in the present application is two or more.

[0029] The different embodiments or examples provided by the present application are used to show the possible structures and variations of the present application. For the sake of simplicity, specific descriptions will be made for the components and their configurations in specific examples. It should be emphasized that these descriptions are only illustrative and not limiting to the present application.

[0030] It should also be noted that the same reference signs may be repeatedly used in different embodiments of the present application, or the same reference signs may be used to simplify the description of part of the repetitive elements. This practice is only for the sake of simplicity and clarity of expression, and in itself does not indicate a specific association between the different embodiments or structures, nor should it be understood as a limitation of the present application.

[0031] Please refer to Figure 1 and Figure 2 , the embodiment of the present application provides a kind of bionic flexible driver based on muscle sarcomere, its structure mainly includes external pneumatic artificial muscle drive unit group 1 And internal bionic tension integral framework 2.The external pneumatic artificial muscle drive unit group 1 With internal bionic tension integral framework 2It is respectively realized assembly connection by upper connecting buckle group 3 And lower connecting buckle group 4.Specifically, first external pneumatic artificial muscle drive unit 101 It is realized the connection fixed with upper connecting disc 301 And lower connecting disc 401 By first upper connecting buckle 302 And first lower connecting buckle 402 Respectively.Second external pneumatic artificial muscle drive unit 102 It is realized the connection fixed with upper connecting disc 301 And lower connecting disc 401 By second upper connecting buckle 303 And second lower connecting buckle 403 Respectively.Third external pneumatic artificial muscle drive unit 103 It is realized the connection fixed with upper connecting disc 301 And lower connecting disc 401 By third upper connecting buckle 304 And third lower connecting buckle 404 Respectively.Fourth external pneumatic artificial muscle drive unit 104 It is realized the connection fixed with upper connecting disc 301 And lower connecting disc 401 By fourth upper connecting buckle 305 And fourth lower connecting buckle 405 Respectively.Internal bionic tension integral framework 2By its upper bottom plate 201 And lower bottom plate 206, and using screw connection mode is respectively realized with upper connecting disc 301 And lower connecting disc 401 Reliable connection.

[0032] Referring to Figures 1 to 3 The external pneumatic artificial muscle driving unit group 1 comprises a first external pneumatic artificial muscle driving unit 101, a second external pneumatic artificial muscle driving unit 102, a third external pneumatic artificial muscle driving unit 103, and a fourth external pneumatic artificial muscle driving unit 104. 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 104 are all composed of an internal elastic straight pipe 1001, an external woven mesh 1002, a clamping device 1003, and a gas inlet pipe 1004. Specifically, the internal elastic straight pipe 1001 is provided with an axial through hole, one end of which is a sealed packaging structure, and the other end is provided with a gas inlet hole. The external woven mesh 1002 is wrapped and constrained on the outer peripheral surface of the internal elastic straight pipe 1001 through the clamping device 1003 at both ends. The gas inlet pipe 1004 is fixedly connected with the gas inlet hole, and is used for external connection of a gas source. Based on the structural characteristics of the external woven mesh 1002 that has large radial deformation and small axial deformation, when the gas is introduced, the radial expansion of the internal elastic straight pipe 1001 is effectively constrained and is converted into axial contraction movement. This mechanism effectively suppresses unintended axial stretching, and overcomes the problems of excessive expansion, difficult deformation control, and complex preparation of air bags in traditional positive pressure driving.

[0033] Referring to Figure 4 and Figure 5 The internal bionic tensegrity framework 2 mainly comprises an upper bottom plate 201, a lower bottom plate 206, an upper spring group 202, a lower spring group 207, an upper support rod group 203, a lower support rod group 208, an upper knuckle 204, a lower knuckle 209, and a center support rod 211. The upper spring group 202, the upper support rod group 203, and the upper half of the center support rod 211 are connected with each other through the upper grommet group 205, and together constitute an upper tensegrity unit. The lower spring group 207, the lower support rod group 208, and the lower half of the center support rod 211 are connected with each other through the lower grommet group 210, and together constitute a lower tensegrity unit.

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

[0035] Referring to Figure 4 and Figure 5 , further. The upper knuckle 204 is installed between the first upper support rod 20301 and the second upper support rod 20302 through the optical axis, and the lower knuckle 209 is installed between the first lower support rod 20801 and the second lower support rod 20802 through the optical axis. The knuckle structure constrains the displacement and rotation of the center support rod 211, so that the upper and lower tensile whole unit are connected in series as a continuous bionic skeleton main shaft.

[0036] It should be particularly pointed out that the rigidity in the present application is derived from the unique mechanical properties of the internal bionic tensile whole skeleton 2, which significantly enhances the structural bearing capacity while not affecting the inherent flexibility function of the driver. Its multi-mode motion ability such as bending and contraction is completely maintained. In addition, based on the inherent prestress distribution mechanism of the tensile whole structure, the system stability is further strengthened, which makes it show excellent anti-interference performance under load change and vibration working conditions. The present application thus effectively solves the key problems of weak bearing capacity and poor stability of traditional flexible drivers due to insufficient rigidity.

[0037] It should be pointed out that the bending motion ability of the present application is realized based on its differential driving mechanism. By applying different air intake amounts to 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 104, and using the mature differential detection and feedback algorithm, the non-uniform axial contraction amount of each unit can be controlled. The asymmetric distribution of the contraction amount makes the driver as a whole present controllable bending deformation. In addition, by adjusting the structural parameters of the upper spring set 202 and the lower spring set 207, the overall rigidity of the driver can be effectively adjusted, so that it can adapt to different load or precision requirement application scenarios.

[0038] The above is only a specific embodiment of the present application, which is used to illustrate the technical solutions of the present application, and does not limit the protection scope of the present application. Based on the principle of the present application, any non-creative modification, adaptive adjustment and reasonable deformation made by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. A biomimetic flexible driver based on sarcomere, characterized in that, The application relates to a kind of external pneumatic artificial muscle driving unit groups (1), by first external pneumatic artificial muscle driving unit (101), second external pneumatic artificial muscle driving unit (102), third external pneumatic artificial muscle driving unit (103) and fourth external pneumatic artificial muscle driving unit (104) are constituted in cross distribution;Internal bionic tensile whole skeleton (2) is arranged in the internal center of the external pneumatic artificial muscle driving unit group (1);Upper connecting disc buckle group (3) and lower connecting disc buckle group (4) are used to connect the external pneumatic artificial muscle driving unit group (1) with the internal bionic tensile whole skeleton (2) and limit relative position;Wherein, the external pneumatic artificial muscle driving unit group (1) can generate axial contraction under the action of gas pressure as active driving source, and the internal bionic tensile whole skeleton (2) is self-balanced and self-stabilized by internal prestress, to provide further rigidity and stability for driver;First external pneumatic artificial muscle driving unit (101), second external pneumatic artificial muscle driving unit (102), third external pneumatic artificial muscle driving unit (103) and fourth external pneumatic artificial muscle driving unit (104) all include internal elastic straight pipe (1001), external braided mesh (1002), clamping device (1003) and air pipe (1004);The internal elastic straight pipe (1001) is provided with axial through hole, and one end is closed and the other end is provided with air hole;The external braided mesh (1002) is wrapped and constrained on the outer periphery of the internal elastic straight pipe (1001);The clamping device (1003) is arranged at both ends of the external braided mesh (1002) for limiting the relative movement between the internal elastic straight pipe (1001) and the external braided mesh (1002);The air pipe (1004) is fixedly connected to the air hole for external connection of gas source;The internal bionic tensile whole skeleton (2) includes upper bottom plate (201), lower bottom plate (206), center support rod (211), upper support rod group (203), lower support rod group (208), upper spring group (202), lower spring group (207), upper eyelet group (205), lower eyelet group (210), upper knuckle (204) and lower knuckle (209);Wherein, upper spring group (202), upper support rod group (203) and center support rod (211) upper half are connected by upper eyelet group (205) to constitute upper tensile whole unit, lower spring group (207), lower support rod group (208) and center support rod (211) lower half are connected by lower eyelet group (210) to constitute lower tensile whole unit, and the upper and lower tensile whole units are connected in series by center support rod (211) as a continuous bionic skeleton main shaft, and the upper knuckle (204) and the lower knuckle (209) are used to constrain the displacement and rotation of the center support rod (211). ​ 2. The sarcomere-based biomimetic flexible actuator of claim 1, wherein: The external braided mesh (1002) adopts a braided mesh with the structural characteristics of large radial deformation and small axial deformation, so as to constrain the radial expansion of the internal elastic straight pipe (1001) and convert it into reliable axial contraction movement.

3. The sarcomere-based biomimetic flexible actuator of claim 1, wherein: 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 bionic tension whole skeleton (2), the overall stiffness of the driver can be conveniently adjusted to adapt to different application requirements.

4. The sarcomere-based biomimetic flexible actuator of claim 1, wherein: The upper connecting disc buckle group (3) comprises 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), and the lower connecting disc buckle group (4) comprises 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); both ends of 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 (104) are connected with the upper connecting disc (301) and the lower connecting disc (401) through the corresponding first upper connecting buckle (302), the first lower connecting buckle (402), the second upper connecting buckle (303), the second lower connecting buckle (403), the third upper connecting buckle (304), the third lower connecting buckle (404), the fourth upper connecting buckle (305), and the fourth lower connecting buckle (405), and the upper bottom plate (201) and the lower bottom plate (206) of the internal bionic tension whole skeleton (2) are fixedly connected with the upper connecting disc (301) and the lower connecting disc (401) through screws.

5. The sarcomere-based, biomimetic, flexible driver of claim 1, wherein: By applying different air pressures to 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 (104), the non-uniform axial contraction amount of each unit can be controlled, so as to drive the whole bionic flexible driver to produce controllable bending movement.

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