Bending joint driven by linear expansion artificial muscle

Abstract

The invention relates to a straight expansion artificial muscle and its driven bended joint. Said bended joint can be used as the executor of machine or the finger, knee and elbow joints of robot. The invention belongs to the application technique of robot and mechanical electric. The inventive elastic-wave case of artificial muscle can be aerated as the power of muscle. And it is characterized in that two hinges are utilized to make the aerated elastic-wave case only extend along the axes without bend and distortion; the volume deformation of elastic-wave case can be calculated and measured, while its structure is designed easily; the control method of joint is easier; it can be integrated with flat spring, torsion spring and drawing spring; and the joint of said straight artificial muscle has single or several freedom degrees.

Description

Technical field: [0001] The present invention relates to a linear expansion artificial muscle and its driven bending joint, which can be used as a mechanical actuator, or as a finger, knee and elbow joint of a robot, as a mechanical device, especially as an actuator of a robot, The utility model belongs to the application technical field of robots and mechatronics. Background technique: [0002] Before the present invention, in the prior art, most of the bending joints driven by artificial muscles were driven by muscle contraction, while the artificial muscles driven by muscle expansion used the bending deformation of the rubber tube to limit the radial expansion. , there is also a bending joint driven by an elastic shell / bellows with compliance (bending and certain twisting). The deformation of the rubber tube consumes a lot of energy, and the elastic deformation of the rubber tube is strongly nonlinear, so it is difficult to establish a mathematical model and control the ...

AI Technical Summary

Problems solved by technology

The deformation of the rubber tube consumes a lot of energy, and the elastic deformation of the rubber tube is strongly nonlinear, so it is difficult to establish a mathematical model and control the bending deformation; although the energy consumption of the elastic wave shell / bellows deformation is small, the elastic wave shell / corrugated The calculation of the elastic deformation of the pipe is complicated, and the establishment of the mathematical model and the control of the bending deformation require computer software to assist the calculation, and the real-time performance is poor.

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