Compensation type flexible drive assembly, control method thereof, drive module and robot

Abstract

The application discloses a compensation type flexible driving assembly and a control method and a driving module and a robot thereof, and belongs to the technical field of bionic robots. The assembly comprises a plurality of bionic muscle fibers, and the deformation behavior of the bionic muscle fibers is anisotropic. Wherein, the first driving unit group and the second driving unit group are configured to have the same axial stiffness, and at least two parameters of the effective cross-sectional area, the axial length and the elastic modulus of the two groups are different and are mutually compensated, so that the first driving unit group and the second driving unit group have the same axial stiffness. The first driving force and the second driving force generated by the first driving unit group and the second driving unit are superimposed on each other in a phase synchronization manner in space based on the same axial stiffness, so as to realize the motion output of the compensation type flexible driving assembly simulating the motion characteristics consistent with the biological muscle, and the motion precision, the response consistency and the system robustness are significantly improved while the multi-unit collaborative driving flexibility is maintained.

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