Positive pressure contractile pneumatic artificial muscle and method of making same

Abstract

The application provides a positive pressure contraction pneumatic artificial muscle and a manufacturing method thereof, the positive pressure contraction pneumatic artificial muscle comprising a first composite film (1), a second composite film (2) and a gas nozzle (3); the first composite film (1) and the second composite film (2) are both folding structures; the gas nozzle (3) is installed on the first composite film (1); one end of the first composite film (1) is located above one end of the second composite film (2), and the other end of the first composite film (1) and the other end of the second composite film (2) form a cross structure. The application creatively adopts a design principle of directly converting the expansion of a closed air cavity into axial contraction, and realizes the positive pressure contraction of the pneumatic artificial muscle by utilizing the cross structure. Moreover, the contraction ratio of the pneumatic artificial muscle is high, and the high contraction ratio is above 90%.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of soft robot pneumatic artificial muscle, in particular, to a positive pressure contraction pneumatic artificial muscle and a manufacturing method thereof, and especially, to a general X-cross high-performance positive pressure contraction pneumatic artificial muscle. BACKGROUND

[0002] The pneumatic artificial muscle is an important basic actuating unit of mechanical systems represented by robot systems, and has wide application requirements in the fields of soft exoskeleton, mobile robot, operating machinery and the like.

[0003] The pneumatic artificial muscle is mainly divided into positive pressure contraction and negative pressure contraction. The most classic positive pressure contraction pneumatic artificial muscle is Mckibben pneumatic artificial muscle and its variants, which has the advantages of simple structure and large output force, but has low contraction ratio and energy efficiency; the newly developed Cavatappi and modular multi-chamber pneumatic artificial muscle has advantages in portability and configurability, but has significantly insufficient mechanical performance; the positive pressure contraction pneumatic artificial muscle generally adopts the basic principle of "converting radial expansion of a closed air cavity into axial contraction", or realizes partial performance advantages through complex mechanical design.

[0004] Compared with positive pressure contraction, the negative pressure contraction pneumatic artificial muscle can easily realize high contraction ratio, but the vacuum machine for generating negative pressure has lower overall efficiency than the compressor for generating positive pressure, and at most can only provide one atmospheric pressure difference, which limits the energy efficiency and mechanical performance.

[0005] Therefore, it is of great significance to develop a positive pressure contraction pneumatic artificial muscle with simple structure, high contraction ratio, excellent mechanical performance, strong universality and good economy by breaking through the basic principles of existing designs. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a positive pressure contraction pneumatic artificial muscle and a manufacturing method thereof.

[0007] According to the positive pressure contraction pneumatic artificial muscle provided by the present application, the positive pressure contraction pneumatic artificial muscle comprises a first composite membrane, a second composite membrane and an air nozzle.

[0008] The first composite membrane and the second composite membrane are both folded structures.

[0009] The air nozzle is installed on the first composite membrane.

[0010] One end of the first composite membrane is located above one end of the second composite membrane, and the other end of the first composite membrane and the other end of the second composite membrane form a cross structure.

[0011] Preferably, the first composite film comprises a first composite film air cavity region, a first composite film sliding region and a gas hole region;

[0012] The first composite film air cavity region is a folded structure, and one end of the first composite film air cavity region is folded and connected to one end of the first composite film sliding region; and the gas hole region is arranged on the first composite film air cavity region;

[0013] The other end of the first composite film sliding region penetrates through the second composite film, and the other end of the first composite film sliding region is an interface for interaction with the outside or for expansion.

[0014] Preferably, the second composite film comprises a second composite film air cavity region and a second composite film sliding region;

[0015] The second composite film air cavity region is a folded structure, and one end of the second composite film air cavity region is folded and connected to one end of the second composite film sliding region;

[0016] The first composite film air cavity region and the second composite film air cavity region are stacked one above the other, and the periphery of the first composite film air cavity region and the periphery of the second composite film air cavity region are sealed to each other to form a sealed air cavity;

[0017] The other end of the second composite film sliding region penetrates through the first composite film, and the other end of the second composite film sliding region is an interface for interaction with the outside or for expansion.

[0018] Preferably, the end of the first composite film sliding region and the end of the second composite film sliding region are both provided with a strip-shaped membrane grid;

[0019] The strip-shaped membrane grid of the first composite film sliding region and the strip-shaped membrane grid of the second composite film sliding region are complementary in shape.

[0020] Preferably, the first composite film and the second composite film both adopt a TPU film-coated woven fabric.

[0021] Preferably, the air nozzle is a TPU air nozzle.

[0022] Preferably, the first composite film air cavity region and the second composite film air cavity region are both rectangular regions.

[0023] According to the present application, a method for manufacturing a positive pressure contraction pneumatic artificial muscle is provided, which is used for manufacturing the positive pressure contraction pneumatic artificial muscle according to any one of claims 1-7, and comprises the following steps:

[0024] S1, aligning the first composite film and the second composite film in an unfolded state, sealing the first composite film air cavity region and the second composite film air cavity region to form a sealed air cavity;

[0025] S2, aligning the air nozzle with the gas hole region channel, connecting the air nozzle to the first composite film through an adhesive, and verifying the air tightness of the sealed air cavity after solidification.

[0026] S3, folding the first composite film and the second composite film;

[0027] S4, cutting the end of the first composite film sliding area by grid one by one;

[0028] S5, folding the first composite film air cavity area and the second composite film air cavity area, and penetrating the first composite film sliding area and the second composite film sliding area to form an X cross structure;

[0029] S6, after completing the penetration and forming the X cross structure, hot pressing the end of the first composite film sliding area;

[0030] S7, while pulling the first composite film air cavity area and the second composite film sliding area, completing the manufacture of the positive pressure contraction pneumatic artificial muscle.

[0031] Preferably, in step S1, the first composite film air cavity area and the second composite film air cavity area are sealed by using a hot press.

[0032] Preferably, in step S2, the air nozzle is connected to the first composite film by a cyanoacrylate adhesive.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] 1. The present application adopts the design principle of "direct conversion of closed air cavity expansion into axial contraction", and realizes the positive pressure contraction of the pneumatic artificial muscle by using the cross structure.

[0035] 2. The present application makes full use of the simple structure and excellent mechanical properties of the closed air cavity, and designs and manufactures the pneumatic artificial muscle by using membrane materials, which is light and has good versatility.

[0036] 3. The present application realizes the highest contraction ratio in the main category of positive pressure contraction pneumatic artificial muscle, and the strain rate, driving stress, force weight ratio, unit force weight ratio, power density, work density, energy efficiency and other indicators are relatively outstanding and balanced, and the comprehensive mechanical properties are excellent, and the contraction ratio of the pneumatic artificial muscle reaches more than 90%. BRIEF DESCRIPTION OF DRAWINGS

[0037] Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0038] Figure 1 is a structural principle diagram of the present application;

[0039] Figure 2 is an assembly schematic diagram of the present application;

[0040] Figure 3 is a driving schematic diagram of the present application;

[0041] Figure 4 Fig. 1 is a force-displacement relationship diagram of the artificial muscle under different air pressure excitations according to the present application;

[0042] Figure 5 Fig. 2 is a radar chart of performance indicators according to the present application;

[0043] Figure 6 Fig. 3 is a structural example diagram when the present application is used in pairs;

[0044] Figure 7 Fig. 4 is a structural example diagram when the present application is used in series;

[0045] Figure 8 Fig. 5 is a structural example diagram when the present application is used in parallel.

[0046] Fig. 1 shows:

[0047]

[0048] DETAILED DESCRIPTION

[0049] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of protection of the present application.

[0050] The present application provides a positive pressure contraction pneumatic artificial muscle, as shown in Figures 1-8 Fig. 1, comprising a first composite membrane 1, a second composite membrane 2 and an air nozzle 3; the first composite membrane 1 and the second composite membrane 2 are both folded structures; the air nozzle 3 is installed on the first composite membrane 1; one end of the first composite membrane 1 is above one end of the second composite membrane 2, the other end of the first composite membrane 1 passes through the second composite membrane 2, and the other end of the second composite membrane 2 passes through the first composite membrane 1, i.e. the other end of the first composite membrane 1 and the other end of the second composite membrane 2 form a cross structure.

[0051] The first composite membrane 1 comprises a first composite membrane cavity area 11, a first composite membrane sliding area 12 and a gas hole area 13; the first composite membrane cavity area 11 is a folded structure, and one end of the first composite membrane cavity area 11 is foldably connected to one end of the first composite membrane sliding area 12; the gas hole area 13 is arranged on the first composite membrane cavity area 11; the air nozzle 3 is connected to the first composite membrane 1 through the gas hole area 13 to ensure air tightness. The other end of the first composite membrane sliding area 12 passes through the second composite membrane 2, and the other end of the first composite membrane sliding area 12 is an interface for interaction with the outside or for expansion.

[0052] The second composite film 2 comprises a second composite film air cavity area 21 and a second composite film sliding area 22; the second composite film air cavity area 21 is a folded structure; and one end of the second composite film air cavity area 21 is foldedly connected with one end of the second composite film sliding area 22; the first composite film air cavity area 11 and the second composite film air cavity area 21 are stacked one above the other, and the periphery of the first composite film air cavity area 11 and the periphery of the second composite film air cavity area 21 are sealed to each other to form a sealed air cavity; the other end of the second composite film sliding area 22 penetrates through the first composite film 1, and the other end of the second composite film sliding area 22 is an interface for interaction with the outside or for expansion. Specifically, referring to Figures 1-2 , the other end of the first composite film sliding area 12 penetrates through the second composite film sliding area 22, and the other end of the second composite film sliding area 22 penetrates through the first composite film sliding area 12; that is, the first composite film sliding area 12 and the second composite film sliding area 22 form a cross structure, and the other end of the first composite film 1 and the other end of the second composite film 2 form a cross structure.

[0053] The first composite film sliding area 12 and the second composite film sliding area 22 are strip-shaped film grids, and the number of grids can be adjusted according to requirements. The film grid shapes of the two sliding areas in the cross structure are complementary, and are designed to be staggered and not in contact with each other, so as to disperse the force acting on the pneumatic artificial muscle. According to the size, a suitable number of grids can be selected to enable the pneumatic artificial muscle to have strong bearing capacity while not being unstable in each direction.

[0054] In a preferred example, the first composite film 1 is an upper composite film, and the first composite film 1 is a gas-impermeable structure; the second composite film 2 is a lower composite film, and the second composite film 2 is a gas-impermeable structure. In a preferred example, the first composite film 1 and the second composite film 2 both adopt TPU film-coated woven fabric, which can provide excellent strength, and the thermoplastic TPU can realize reliable connection between the films under a hot pressing process and ensure good air tightness. In a preferred example, the first composite film 1 and the second composite film 2 have mechanical anisotropy. The elastic modulus along the shrinkage direction is large, and the breaking strength is high, so that the strain of the sliding area of the pneumatic artificial muscle is small, and the bearing capacity is improved; the elastic modulus along the circumferential direction of the cross section of the sealed air cavity is small, which is beneficial to the deformation and expansion of the cross section of the sealed air cavity under the action of air pressure, so that a larger output force can be obtained. In a preferred example, the air nozzle 3 adopts a TPU air nozzle, which has multiple sizes and good flexibility.

[0055] Referring to Figures 1-2 , the first composite film air cavity area 11 and the second composite film air cavity area 21 are reversely overlapped and connected by edges to form a sealed air cavity, so as to ensure air tightness. The first composite film 1 has an independent air hole area 13 connected with the air nozzle 3 to form an air flow channel.

[0056] In a preferred embodiment, the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 can be rectangular, and in other preferred embodiments, the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 can be any desired two-dimensional or three-dimensional shape including trapezoidal, can achieve asymmetric motion, and further be used in shearing, rotating and other scenarios. In a preferred embodiment, the first composite membrane sliding area 12 and the second composite membrane sliding area 22 can be rectangular, and in other preferred embodiments, the first composite membrane sliding area 12 and the second composite membrane sliding area 22 can be transformed in shape according to the application to facilitate connection and fixation with the outside.

[0057] In the positive pressure contraction pneumatic artificial muscle, the first composite membrane 1 and the second composite membrane 2 can be designed as needed by using the AutoCAD automatic program. The TPU air nozzle 3 can be directly bonded on the outside of the first composite membrane 1, or the nozzle head can penetrate the air hole area 13 from the inside to form a bonding mode with the nozzle head outside and the base inside, which can greatly improve the air tightness and pressure resistance of the sealed air cavity. The number of grids of the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 should be appropriate to avoid uneven stress caused by too few grids, and at the same time avoid too many grids causing the film of each grid to be too narrow to assemble and the bearing capacity to be weak.

[0058] The application also provides a positive pressure contraction pneumatic artificial muscle manufacturing method for manufacturing the positive pressure contraction pneumatic artificial muscle, comprising the following steps, as shown in the figure: Figure 2

[0059] S1, align the first composite membrane 1 and the second composite membrane 2 in an unfolded state, seal the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 under the action of a hot press to form a sealed air cavity;

[0060] Specifically, the first composite membrane 1 and the second composite membrane 2 are anisotropic shuttle fabric coated with TPU, the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 are the same in shape and size, and the sliding areas of the two are opposite to each other; the TPU side of the first composite membrane 1 is opposite to the TPU side of the second composite membrane 2, the air cavity areas are aligned, and the TPU is melted and cooled under the action of a hot press at about 200℃ to connect the edges of the air cavity and form a sealed air cavity. Among them, the direction with larger elastic modulus is parallel to the sliding area direction, and the direction with smaller elastic modulus is perpendicular to the sliding area direction, that is, along the circumferential direction of the cross section of the sealed air cavity.

[0061] S2, align the air nozzle 3 with the hole channel of the air hole area 13, connect the air nozzle 3 to the first composite membrane 1 through an adhesive, and after solidification, verify the air tightness of the sealed air cavity by pressurization;

[0062] ​Specifically, the air nozzle 3 is made of TPU material, and the air nozzle 3 is aligned with the hole of the air hole area 13 and connected to the first composite film 1 by viscous cyanoacrylate adhesive. After solidification, pressure verification is performed to verify the air tightness of the sealed air cavity.

[0063] S3, folding the first composite film 1 and the second composite film 2, as shown in Figure 2 ;

[0064] S4, cutting the end of the first composite film sliding area 12 according to the grid one by one;

[0065] Specifically, the end of the first composite film sliding area 12 is cut according to the grid one by one to change its topological structure.

[0066] S5, folding the first composite film air cavity area 11 and the second composite film air cavity area 21 to form an X cross structure 4;

[0067] Specifically, when folding the sealed air cavity, the first composite film sliding area 12 and the second composite film sliding area 22 will penetrate each other and form an X cross, forming a motion conversion mechanism, i.e. the X cross structure 4. Since the first composite film sliding area 12 and the second composite film sliding area 22 will penetrate each other, the end of one of the sliding areas must be cut to change its topological structure to realize the X cross structure 4.

[0068] S6, after completing the penetration and forming the X cross structure 4, hot pressing the end of the first composite film sliding area 12, i.e. the cut area can be restored to its original structure, which is consistent with the appearance before cutting. Specifically, the purpose of hot pressing the end is to reconnect the cut sliding area to restore its original state and ensure its integrity after the X cross structure 4 is formed.

[0069] It is worth noting that in step S4, when cutting the first composite film sliding area 12, a gap is formed in the complete material, and direct hot pressing may not be able to reconnect the gap to restore the original appearance. Therefore, a small piece of fabric material can be overlapped on the gap to bridge the two sides of the cut, and then hot pressed to obtain reliable connection. That is, after completing the penetration and forming the X cross structure 4, a narrow TPU film fabric strip is laid on the cut to bridge the cut opening, and then the cut area is restored to its original structure.

[0070] S7, simultaneously pulling the first composite film air cavity area 11 and the second composite film sliding area 22 to complete the manufacture of the positive pressure contraction pneumatic artificial muscle.

[0071] As shown in Figure 4 , the contraction ratio of the pneumatic artificial muscle in this embodiment reaches more than 90%, i.e. Figure 4 The zero point of each curve (the intersection of the curve and the horizontal axis) is between 90% and 95%, and the theoretical value can approach 100% infinitely. Figure 4It is also illustrated that the output force (ordinate) of the positive pressure contraction pneumatic artificial muscle has a large value in a wide range of contraction ratio (abscissa) and does not rapidly decay with the increase of the contraction ratio.

[0072] As shown in Figure 5 , the present application is compared with the performance of different kinds of existing artificial muscles, including the comparison of contraction ratio, strain rate, force weight ratio, unit force weight ratio, driving stress, power density, work density, energy efficiency, etc. Figure 5 The excellent comprehensive mechanical performance of the positive pressure contraction pneumatic artificial muscle is fully illustrated, and the indexes thereof are more balanced relative to skeletal muscles and various artificial muscles.

[0073] The positive pressure contraction pneumatic artificial muscle can be expanded into different forms according to different needs of force and displacement. As shown in Figure 6 , two pneumatic artificial muscle units can be connected on the opposite sides of the second composite membrane 2 to form a dual pneumatic artificial muscle, which can improve the output force. As shown in Figure 7 , three pneumatic artificial muscle units are connected in series through hot pressing to form a series pneumatic artificial muscle, which can increase the displacement. As shown in Figure 8 , three groups of series pneumatic artificial muscles are connected in parallel to form a parallel pneumatic artificial muscle, which can simultaneously realize the desired force and displacement. The geometric shapes of the air cavity area and the sliding area, the connection modes of the dual, series and parallel, etc. can be further changed and combined.

[0074] The working principle of the present application is as follows:

[0075] The compressed air enters the closed air cavity formed by the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 through the air nozzle 3 and the air hole area 13, so that the closed air cavity expands, and the folded closed air cavity gradually changes to a straight state under the expansion. The cross structure directly converts the movement away from the two ends of the closed air cavity generated by the expansion into the relative contraction movement between the first composite membrane sliding area 12 and the second composite membrane sliding area 22. The grid-shaped sliding area of the strip-shaped membrane can uniformly disperse the force of the pneumatic artificial muscle, so that it has stability. Under the positive pressure excitation, the closed air cavity in the bent state expands and gradually straightens; the cross structure directly converts the expansion movement into the contraction movement of the sliding area.

[0076] The present application folds the closed air cavity and makes the first composite membrane air cavity area 11 and the second composite membrane air cavity area 21 penetrate each other to form a cross structure, so that the expansion of the closed air cavity can be directly converted into the contraction movement of the sliding area through the cross structure. That is, the present application adopts the design principle of "directly converting the expansion of the closed air cavity into axial contraction", and realizes the positive pressure contraction of the pneumatic artificial muscle through the cross structure, so as to obtain large contraction ratio and excellent comprehensive mechanical performance.

[0077] The present application realizes positive pressure contraction artificial muscle through cross structure, has the characteristics and ability of simple structure, light weight, large contraction ratio, excellent comprehensive mechanical property and strong versatility, and can be widely applied to various robots and intelligent devices to improve their flexibility and practicability. The present application realizes excellent comprehensive mechanical property through the innovative principle of "directly converting closed air cavity expansion into axial contraction" through cross structure. That is, the present application creatively adopts the design principle of "directly converting closed air cavity expansion into axial contraction", and realizes positive pressure contraction of pneumatic artificial muscle through cross structure. And the present application fully utilizes the simple structure and excellent mechanical property of closed air cavity, and designs and manufactures pneumatic artificial muscle by using thin film material, which is light and has good versatility. In addition, the present application realizes the highest contraction ratio in the main categories of positive pressure contraction pneumatic artificial muscle, and the strain rate, driving stress, force weight ratio, unit force weight ratio, power density, work density, energy efficiency and other indexes are relatively outstanding and balanced, and the comprehensive mechanical property is excellent. More importantly, the present application can adjust the size according to the needs of force and displacement in actual application, and arrange in different forms such as dual, series and parallel, which has good versatility.

[0078] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0079] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A positive pressure contracting pneumatic artificial muscle, characterized by, The first composite film (1), the second composite film (2) and the air nozzle (3) are included. The first composite film (1) and the second composite film (2) are both folded structures. The air nozzle (3) is installed on the first composite film (1). One end of the first composite film (1) is above one end of the second composite film (2), and the other end of the first composite film (1) intersects with the other end of the second composite film (2). The first composite film (1) includes a first composite film air cavity area (11) and a first composite film sliding area (12). The first composite film air cavity area (11) is a folded structure, and one end of the first composite film air cavity area (11) is foldedly connected with one end of the first composite film sliding area (12). The other end of the first composite film sliding area (12) penetrates through the second composite film (2). The second composite film (2) includes a second composite film air cavity area (21) and a second composite film sliding area (22). The second composite film air cavity area (21) is a folded structure, and one end of the second composite film air cavity area (21) is foldedly connected with one end of the second composite film sliding area (22). The first composite film air cavity area (11) and the second composite film air cavity area (21) are stacked one above the other, and the periphery of the first composite film air cavity area (11) and the periphery of the second composite film air cavity area (21) are mutually sealed to form a sealed air cavity. The other end of the second composite film sliding area (22) penetrates through the first composite film (1). The end of the first composite film sliding area (12) and the end of the second composite film sliding area (22) are both provided with a strip-shaped membrane grid. The strip-shaped membrane grid of the first composite film sliding area (12) and the strip-shaped membrane grid of the second composite film sliding area (22) are complementary in shape.

2. The positive pressure contracting pneumatic artificial muscle according to claim 1, wherein It also includes an air hole area (13). The air hole area (13) is arranged on the first composite film air cavity area (11). The other end of the first composite film sliding area (12) is an interface for interacting with the outside or for expansion. The other end of the second composite film sliding area (22) is an interface for interacting with the outside or for expansion.

3. The positive pressure contracting pneumatic artificial muscle of claim 1, wherein, The first composite film (1) and the second composite film (2) both adopt TPU film-coated woven fabric.

4. The positive pressure contracting pneumatic artificial muscle of claim 1, wherein, The air nozzle (3) is a TPU air nozzle.

5. The positive pressure contracting pneumatic artificial muscle of claim 1, wherein, The first composite film air cavity area (11) and the second composite film air cavity area (21) are both rectangular areas.

6. A method of manufacturing a positive pressure contracting pneumatic artificial muscle, characterized by, A method for manufacturing the positive pressure contraction pneumatic artificial muscle of any one of claims 1-5, comprising the following steps: S1, aligning the first composite film (1) and the second composite film (2) in an unfolded state, sealing the first composite film air cavity area (11) and the second composite film air cavity area (21) to form a sealed air cavity; S2, aligning the air nozzle (3) with the air hole area (13) hole, connecting the air nozzle (3) to the first composite film (1) through an adhesive, and after solidification, verifying the air tightness of the sealed air cavity under pressure; S3, folding the first composite film (1) and the second composite film (2); S4, cutting the end of the first composite film sliding area (12) according to the grid one by one. S5, fold the first composite membrane air cavity area (11) and the second composite membrane air cavity area (21), and penetrate the first composite membrane sliding area (12) and the second composite membrane sliding area (22) to form an X cross structure (4); S6, after completing the penetration and forming the X cross structure (4), heat-press the end of the first composite membrane sliding area (12); S7, simultaneously pull the first composite membrane air cavity area (11) and the second composite membrane sliding area (22) to complete the manufacturing of the positive pressure contraction pneumatic artificial muscle.

7. The method of claim 6, wherein the positive pressure contraction pneumatic artificial muscle is manufactured by the steps of: In step S1, the first composite membrane air cavity area (11) and the second composite membrane air cavity area (21) are sealed by using a heat press.

8. The method of claim 6, wherein the positive pressure contractile pneumatic artificial muscle is manufactured by the steps of: In step S2, the air nozzle (3) is connected to the first composite membrane (1) by using a cyanoacrylate adhesive.

Images