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

By dividing the bionic muscle fibers into driving unit groups with the same axial stiffness and generating synchronized driving force through force transmission structure coupling under electric field excitation, the stiffness mismatch problem between flexible driving unit groups is solved, achieving high-precision and robust motion output.

CN122142976BActive Publication Date: 2026-07-24SHANGHAI TODAY XINDONG TECHNOLOGY CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI TODAY XINDONG TECHNOLOGY CO LTD
Filing Date
2026-05-09
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

The unequal stiffness design between existing flexible drive unit groups leads to complex control coupling, mechanical imbalance and insufficient robustness, making it difficult to achieve high-precision trajectory tracking and consistent dynamic response.

Method used

Multiple biomimetic muscle fibers are divided into driving unit groups with the same axial stiffness. Through force transmission structure coupling, they generate phase-synchronized driving force under electric field excitation. By compensating for differences in effective cross-sectional area, axial length and elastic modulus, motion output that simulates the movement characteristics of biological muscles is achieved.

Benefits of technology

It significantly improves motion accuracy, response consistency and system robustness, reduces control complexity, and overcomes the shortcomings of unequal stiffness design.

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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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