CN102962850B - Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof - Google Patents
Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof Download PDFInfo
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- CN102962850B CN102962850B CN201210433479.9A CN201210433479A CN102962850B CN 102962850 B CN102962850 B CN 102962850B CN 201210433479 A CN201210433479 A CN 201210433479A CN 102962850 B CN102962850 B CN 102962850B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 22
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 41
- 239000004020 conductor Substances 0.000 claims description 10
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000035807 sensation Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 26
- 238000005452 bending Methods 0.000 abstract description 15
- 230000008602 contraction Effects 0.000 abstract description 3
- 238000010438 heat treatment Methods 0.000 abstract description 2
- 125000006850 spacer group Chemical group 0.000 abstract 2
- 241000238413 Octopus Species 0.000 description 8
- 210000000707 wrist Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 241000238371 Sepiidae Species 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000238366 Cephalopoda Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The invention provides a flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and a flexible mechanical arm thereof, and the mechanism and the mechanical arm belong to the technical field of robots. The flexible mechanical arm mechanism comprises an inner layered mandril (1), an outer layered flexible sleeve (2) and a lead bundle (3) which is used for electrically heating the SMA wires, wherein the inner layered mandril (1) comprises a base (105), a top end fixing piece (103), N inner spacers (101), N+1 inner silicone tubes (102) and three SMA wires; the outer layered flexible sleeve (2) comprises a bottom end connecting seat (206), a top end connecting seat (203), M outer spacers (201), M+1 outer silicone tubes (204) and six SMA wires; the inner layered mandril and the outer layered flexible sleeve are connected through a bearing; and the flexible bending movement and the contraction movement of the inner layered mandril are transmitted onto the outer layered flexible sleeve through the bearing.
Description
Technical field
The present invention relates to the flexible mechanical arm mechanism that a kind of shape-memory alloy wire drives, belong to Robotics field.
Background technology
Along with the develop rapidly of space flight and deep-sea detecting cause, day by day increase for the demand of the mechanical arm that can assist or replace people to work under extreme environment.The advantages such as flexible mechanical arm is light by feat of its quality, and flexibility is good, and range of movement is wide, become one of focus of mechanical arm research gradually.
In future space activity, space flight mechanical arm will progressively replace astronaut and complete various spatial operations.And in ocean petroleum developing field, because the high pressure complex environment in seabed is not suitable for human work, need suitable robotic arm to replace the work such as people carry out investigating, getting rid of the danger under habitata, salvage, sea.Therefore, in order to meet the demand, researcher's novel flexible mechanical arm more flexibly that begins one's study.
Festo engineering company of Germany, taking large trunk as bionical object, has developed the biomimetic manipulator of pneumatic actuation.Power science company (KSI) has developed has flexible robot arm Air-Octor, and it is driven jointly by air impeller and electro-motor, can complete bending, the actions such as contraction and elongation.The Walker leader's of South Carolina, USA state Clemson University research group is taking Cephalopoda animal as bionical object, develop a kind of novel flexible robotic arm OctArm, can realize two bendings along axis direction and stretching motion by pneumatic actuation, combine and just can complete the action in three dimensions.European group headed by the institution of higher education of Italy's Piza Santa Ana has successfully developed simulation octopus and has touched the rope driving device arm of wrist, and has successfully simulated the motion of octopus tentacle.The people such as University of Science and Technology, Central China Yang Kai for basic, have made three finger bionic mechanical paws taking the unit of embedded marmem (Shape Memory Alloy, SMA) silk, and this paw can complete submissive grasping movement fast.The people such as the Wang Zhenlong of Harbin Institute of Technology have developed the imitative octopus driving based on SMA silk and have touched wrist unit, and the flexible bending function of similar octopus wrist can be realized in this unit.
The flexible mechanical arm of developing is at present all to be driven with the mode such as SMA artificial-muscle and driven to realize bending motion and capture motion by pneumatic, hydraulic pressure, rope.The performance of SMA material, more close to muscle, is stretched and reverses function but existing SMA driving device arm is difficult to realization compared with other several type of drive, also has larger gap with the motion of biological prototype.
Summary of the invention
The object of this invention is to provide and a kind ofly have with octopus wrist kinematic similitude, can realize the Bionic flexible mechanical arm mechanism of full flexible bending, torsion and stretching motion.
In order to realize above-mentioned target, taking the contour structures of cuttlefish and octopus wrist and muscular tissue structure as reference, with simple in structure, controlling convenient is design philosophy.
The flexible mechanical arm mechanism that shape-memory alloy wire drives, is characterized in that comprising internal layer plug, outer flexible boot and for to the electrically heated bundle conductor of SMA silk; Wherein internal layer plug is made up of a base, top stator, a N interior distance piece, a N+1 interior silicone tube and three SMA silks, and N is greater than 1 natural number; Wherein in N, in distance piece and N+1, silicone tube space is arranged, base is arranged in the bottom of silicone tube in below of internal layer plug, and top stator is arranged in the top of silicone tube in internal layer plug the top; Above-mentioned base, top stator, interior distance piece all have the fixing hole for SMA silk location; The head end of every SMA silk in internal layer plug is fixed on a fixing hole of base, the mode of turning back about then adopting is passed the fixing hole of interior distance piece according to this, turn back through after the fixing hole of top stator again, then the mode that continues to turn back about adopting is passed the fixing hole of interior distance piece according to this, the end of the SMA silk in last internal layer plug is fixed on the fixing hole of base, and every SMA silk entirety in internal layer plug is cross-shaped; SMA silk in above-mentioned internal layer plug is embedded in interior silicone tube, between interior silicone tube, interior distance piece, base and top stator, all adopts silica gel bonding; Its ectomesoderm flexible boot is made up of a bottom Connection Block, top Connection Block, a M outer distance piece, a M+1 outer silicone tube and a six roots of sensation SMA silk, and M is greater than 1 natural number; Wherein M outer distance piece and M+1 outer silicone tube space layout, bottom Connection Block be arranged in outer flexible boot below the bottom of outer silicone tube, top Connection Block is arranged in the top of silicone tube outside outer flexible boot the top; Above-mentioned outer distance piece, top Connection Block, bottom Connection Block all have the fixing hole for SMA silk location; The head end of every SMA silk in outer flexible boot is fixed on a fixing hole of bottom Connection Block, then adopts spiral way according to this through the fixing hole of outer distance piece, and the end of the SMA silk in outer flexible boot is fixed on the fixing hole of top Connection Block again; In six roots of sensation SMA silk in above-mentioned outer flexible boot in two SMA silks of arbitrary neighborhood one for another root of left-handed mode be dextrorotation mode; SMA silk in above-mentioned outer flexible boot is embedded in outer silicone tube, between outer silicone tube, outer distance piece, bottom Connection Block and top Connection Block, all adopts silica gel bonding; SMA silk in above-mentioned outer flexible boot is connected with bundle conductor, and bundle conductor is through the centre bore of internal layer plug; Above-mentioned bottom Connection Block and position base are corresponding and be connected by bearing, and top Connection Block is corresponding with stator position, top and be connected by bearing; Above-mentioned N≤M, and connect by bearing between above-mentioned outer distance piece and corresponding interior distance piece.
The flexible mechanical arm that utilizes the flexible mechanical arm mechanism of described shape-memory alloy wire driving, is characterized in that: some flexible mechanical arm mechanisms are connected by contiguous block or be or in parallel by fixed pedestal.
Between the internal layer plug of this flexible mechanical arm mechanism and outer flexible boot, connect by bearing, flexible bending motion and the contractile motion of internal layer plug are delivered in outer flexible boot by bearing.
Flexible mechanical arm mechanism of the present invention, because of its special structural design, can be realized flexible bending and the contractile motion of the wrist that imitates cuttlefish and octopus.Utilize the SME of SMA silk, under uniform temperature condition, realize Phase change shrinkage, for flexible mechanical arm mechanism provides power source, total is simple, and has the resistance to pressure similar to muscle hydrostatic muscle.Under the acting in conjunction of internal layer plug and outer flexible boot, this flexible mechanical arm mechanism can be realized overall flexible bending, flexible torsional and stretching motion, and these several motions can produce composite effect, the flexibility of increase flexible mechanical arm mechanism.By series, parallel and the series-parallel connection of multiple flexible mechanical arm mechanisms, can realize the novel flexible mechanical arm of a kind of multi-faceted, multi-angle and many torsional deflections, thereby can complete the functions such as flexibility under complicated non-structure environment captures and catches.Flexible mechanical arm mechanism of the present invention, by used aloned or multiple series, parallel and series-parallel connection use, can be used for the association areas such as deep sea surveying, military surveillance and space operations.
Brief description of the drawings
Fig. 1 shape-memory alloy wire drives flexible mechanical arm mechanism;
Fig. 2 shape-memory alloy wire drives flexible mechanical arm mechanism cutaway view;
Fig. 3 internal layer plug;
In Fig. 4 internal layer plug, shape-memory alloy wire is arranged schematic diagram;
Fig. 5 internal layer plug cutaway view;
In the outer flexible boot of Fig. 6, shape-memory alloy wire is arranged schematic diagram;
In the outer flexible boot of Fig. 7, left-handed shape-memory alloy wire is arranged schematic diagram;
In the outer flexible boot of Fig. 8, dextrorotation shape-memory alloy wire is arranged schematic diagram;
The outer flexible boot cutaway view of Fig. 9;
Figure 10 flexible mechanical arm mechanisms in series structural representation;
Figure 11 flexible mechanical arm mechanism parallel-connection structure schematic diagram;
Figure 12 flexible mechanical arm mechanism hybrid connected structure schematic diagram;
Number in the figure title: 1, internal layer plug, 2, outer flexible boot, 3, bundle conductor, 4, contiguous block, 5, fixed pedestal, 101, interior distance piece, 102, interior silicone tube, 103, top stator, 104, SMA silk, 105, base, 201, outer distance piece, 203, top Connection Block, 204, outer silica gel sheath, 205, bearing, 206, bottom Connection Block.
Detailed description of the invention
Drive the concrete technical scheme of flexible mechanical arm mechanism to be described below in conjunction with accompanying drawing to shape-memory alloy wire of the present invention.
As shown in Figure 1, 2, flexible mechanical arm mechanism of the present invention is made up of internal layer plug 1, outer flexible boot 2 and bundle conductor 3.The flexible mechanical arm mechanism that a kind of shape-memory alloy wire of the present invention drives, is characterized in that: described Bionic flexible mechanical arm mechanism comprises internal layer plug and outer flexible boot; Wherein internal layer plug comprises distance piece in N, 3 SMA silk, base, top stator and N+1 interior silicone tubes, interior silicone tube and interior distance piece space layout, and SMA silk is embedded in interior silicone tube through interior distance piece and top stator; Its ectomesoderm flexible boot comprises M outer distance piece, 6 SMA silk, bottom Connection Block, top Connection Block and M+1 outer silicone tubes, outer silicone tube and outer distance piece space are arranged, 6 SMA silks are divided into two groups of contrary rotation directions and arrange, every SMA silk is all to be similar to the arrangements of helix, and pass outer distance piece and be embedded in outer silicone tube, and one end be fixed on bottom base on, the other end is fixed on the Connection Block on top.
Between internal layer plug 1 and outer flexible boot 2, connect by bearing 205, ensure can realize relative twist motion between internal layer plug 1 and outer flexible boot 2, for giving the centre bore of the logical electrically heated bundle conductor 3 of SMA silk through internal layer plug 1.Top stator 103 in internal layer plug 1 is connected with the top Connection Block of outer flexible boot 2 by bearing 205, realize the restriction of axial location between internal layer plug 1 and outer flexible boot 2, the flexible bending of internal layer plug 1 and axial stretching motion are all delivered in outer flexible boot 2 by bearing.Top Connection Block in outer flexible boot 2 is for being connected with other flexible mechanical arm mechanism or end effector, the twist motion of outer flexible boot 2 is mutually compound with bending and stretching motion that stretching motion and internal layer plug 1 transmit by bearing, can make flexible mechanical arm winding machine flexible bending, torsion and stretching motion, thereby make top Connection Block 203 can realize any spatial attitude.
As shown in Fig. 3,4,5, internal layer plug 1 of the present invention is made up of interior distance piece 101, interior silicone tube 102, top stator 103, SMA silk 104, base 105.In N, in distance piece 101 and N+1, silicone tube 102 spaces are arranged, 1 top stator 103 is arranged on the top of internal layer plug 1, 1 base 105 is arranged on the bottom of internal layer plug 1, each root shape SMA silk 104 all staggered form distributes, and through the fixing hole of interior distance piece 101, each root shape SMA silk 104 is all being turned back through after top stator 103, and the two ends of each root SMA silk 104 are all fixed on the base 105 of bottom, all SMA silk 104 is all embedded in interior silicone tube 102, between interior silicone tube 102 and interior distance piece 101 and top stator 103, directly adopt 704 silica gel bonding, to realize SMA silk and external environment isolation.SMA silk 104 is 3 altogether, respectively by cross section 120 ° spaced apart, shrink by direct-electrifying mode of heating control SMA silk, by the contractile motion of 3 SMA silks of specific rule control, can control the 360 ° of any direction bendings in axis projection plane of internal layer plug, realize internal layer plug 1 to arbitrary axis to projecting direction bending and different angle of bend, the overall shrinkage that when 3 groups of SMA silks 104 are all switched on heat shrink, internal layer plug 1 is realized along axis direction.
As shown in Fig. 6,7,8,9, outer flexible boot 2 of the present invention is made up of outer distance piece 201, SMA silk, top Connection Block 203, outer silicone tube 204, bearing 205, bottom Connection Block 206.M outer distance piece 201 and M+1 outer silicone tube 204 spaces are arranged, 1 top Connection Block 203 is arranged on the top of outer flexible boot 2, be used for connecting other flexible arm mechanism or end effector, 1 bottom Connection Block 206 is arranged on the bottom of outer flexible boot 2, 6 SMA silks are divided into two groups, wherein one group be in cross section, be evenly distributed along outer flexible boot 2 axis left hand direction be helix shape arrange, another group is helix shape layout for what be evenly distributed in cross section along outer flexible boot 2 axis clockwise directions, the rotation arranged direction of two groups of SMA silks is contrary, by controlling not the contractile motion of SMA silk on the same group, can realize the twist motion of different directions, when shrinking simultaneously, can realize 6 SMA silks the contraction of outer flexible boot along axis direction.Above-mentioned whole SMA silk is all embedded in outer silicone tube 204, directly adopts 704 silica gel bonding between outer silicone tube 204 and outer distance piece 201 and top Connection Block 203, to realize SMA silk and external environment isolation.The two ends of SMA silk are separately fixed on top Connection Block 203 and bottom Connection Block 206, and every group of SMA silk links together and be connected with wire with top Connection Block 203 one end at bottom Connection Block 206.Bearing 205 is arranged in outer distance piece 201, top Connection Block 203 and bottom Connection Block 206, and is interference fit between bearing 205 outer rings and outer distance piece 201, top Connection Block 203 and bottom Connection Block 206.
Described flexible mechanical arm mechanism can be by being composed in series flexible mechanical arm, as shown in figure 10.Between each flexible mechanical arm mechanism, be cascaded by contiguous block 4, the wire of each flexible mechanical arm mechanism is through the centre bore of previous flexible mechanical arm mechanism, the line set synthesising wire bundle of all flexible mechanical arm mechanisms.By controlling each flexible mechanical arm mechanism by specific driving rule, can realize the bending of the space any attitude of whole flexible mechanical arm, the deep enough narrow unknown non-structure environment of energy, reconnoitres and is wound around crawl work.
Described flexible mechanical arm mechanism can be by composing in parallel flexible mechanical arm, as shown in figure 11.Each flexible mechanical arm mechanism all parallel connection is fixed on a fixed pedestal 5, and its axis can be parallel to each other and also can mutually arrange at an angle, after the wire of all flexible mechanical arm mechanisms all passes fixed pedestal 5, assembles bundle conductor.By controlling each flexible mechanical arm mechanism by specific driving rule, the flexibility that can realize simulation cuttlefish and octopus wrist captures and predation motion.This flexible mechanical arm has larger flexibility, can realize and catch more flexibly motion, and flexibility is better than general motor driving device arm and manipulator.
Described flexible mechanical arm mechanism can mix composition flexible mechanical arm by series and parallel connections, as shown in figure 12.This flexible mechanical arm comprises multiple series and parallel connections structures, can realize Various Complex function by rational modular combination.
Claims (2)
1. the flexible mechanical arm mechanism that shape-memory alloy wire drives, is characterized in that comprising internal layer plug (1), outer flexible boot (2) and for to the electrically heated bundle conductor of SMA silk (3);
Wherein internal layer plug (1) is made up of a base (105), a top stator (103), a N interior distance piece (101), a N+1 interior silicone tube (102) and three SMA silks, and N is greater than 1 natural number; Wherein N interior distance piece (101) and N+1 interior silicone tube (102) space are arranged, base (105) is arranged in the bottom of silicone tube in below of internal layer plug (1), and top stator (103) is arranged in the top of silicone tube in internal layer plug (1) the top; Above-mentioned base (105), top stator (103), interior distance piece (101) all have the fixing hole for SMA silk location; The head end of every SMA silk in internal layer plug is fixed on a fixing hole of base (105), the mode of turning back about then adopting is passed the fixing hole of interior distance piece according to this, turn back through after the fixing hole of top stator again, then the mode that continues to turn back about adopting is passed the fixing hole of interior distance piece according to this, the end of the SMA silk in last internal layer plug is fixed on the fixing hole of base (105), and every SMA silk entirety in internal layer plug is cross-shaped; SMA silk (104) in above-mentioned internal layer plug is embedded in interior silicone tube (102), between interior silicone tube (102), interior distance piece (101), base (105) and top stator (103), all adopts silica gel bonding;
Its ectomesoderm flexible boot (2) is made up of a bottom Connection Block (206), a top Connection Block (203), a M outer distance piece (201), a M+1 outer silicone tube (204) and six roots of sensation SMA silk, and M is greater than 1 natural number; Wherein M outer distance piece (201) and M+1 outer silicone tube (204) space are arranged, bottom Connection Block (206) is arranged in the bottom of the outer silicone tube in below of outer flexible boot (2), and top Connection Block (203) is arranged in the top of silicone tube outside outer flexible boot (2) the top; Above-mentioned outer distance piece (201), top Connection Block (203), bottom Connection Block (206) all have the fixing hole for SMA silk location; The head end of every SMA silk in outer flexible boot is fixed on a fixing hole of bottom Connection Block (206), then adopt spiral way according to this through the fixing hole of outer distance piece, the end of the SMA silk in outer flexible boot is fixed on the fixing hole of top Connection Block (203) again; In six roots of sensation SMA silk in above-mentioned outer flexible boot in two SMA silks of arbitrary neighborhood one for another root of left-handed mode be dextrorotation mode; SMA silk in above-mentioned outer flexible boot is embedded in outer silicone tube (204), between outer silicone tube (204), outer distance piece (201), bottom Connection Block (206) and top Connection Block (203), all adopts silica gel bonding;
SMA silk in above-mentioned outer flexible boot is connected with bundle conductor (3), and bundle conductor (3) is through the centre bore of internal layer plug (1);
Above-mentioned bottom Connection Block (206) and base (105) position are corresponding and be connected by bearing (205), and top Connection Block (203) is with top stator (103) position correspondence and be connected by bearing; Above-mentioned N≤M, and connect by bearing between above-mentioned outer distance piece (201) and corresponding interior distance piece (101).
2. the flexible mechanical arm that utilizes the flexible mechanical arm mechanism that shape-memory alloy wire drives described in claim 1, is characterized in that: some flexible mechanical arm mechanisms are by contiguous block (4) series connection or by fixed pedestal (5) parallel connection.
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| CN201210433479.9A CN102962850B (en) | 2012-11-05 | 2012-11-05 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
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| CN201210433479.9A CN102962850B (en) | 2012-11-05 | 2012-11-05 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
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| CN104875206B (en) * | 2015-05-15 | 2017-01-11 | 中国科学技术大学 | Flexible manipulator based on shape memory alloy-flexible composite structure |
| CN105437228B (en) * | 2015-12-22 | 2017-05-03 | 中国计量学院 | Pneumatic muscle |
| CN105856271B (en) * | 2016-06-01 | 2019-01-18 | 哈尔滨工业大学 | A kind of aviation machine arm and preparation method thereof based on shape-memory polymer and dielectric elastomer |
| CN106272546B (en) * | 2016-06-30 | 2022-08-12 | 无锡三迪工业动画有限公司 | Flexible mechanical arm on mechanical arm |
| CN106218748B (en) * | 2016-08-22 | 2019-10-08 | 上海交通大学 | Soft robot based on shape memory alloy driving |
| CN108340400B (en) * | 2018-02-12 | 2021-03-30 | 哈尔滨工业大学 | Flexible driving type bidirectional rotary robot joint |
| CN113070872B (en) * | 2021-04-07 | 2023-03-07 | 北京交通大学 | Variable-rigidity continuum robot with winding rope structure |
| CN114319216B (en) * | 2022-03-17 | 2022-06-21 | 徐州沣收喷灌设备有限公司 | Municipal works are with sprinkling irrigation street washing car based on bionics principle |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
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| JPS61236492A (en) * | 1985-04-12 | 1986-10-21 | 三菱重工業株式会社 | Flexible arm with shape memory alloy |
| JPS63136014A (en) * | 1986-11-28 | 1988-06-08 | Res Dev Corp Of Japan | Active bending device for flexible tube |
| US5080000A (en) * | 1990-05-11 | 1992-01-14 | Bubic Frank R | Flexible robotic links and manipulator trunks made thereform |
| AU6917298A (en) * | 1997-05-08 | 1998-11-27 | Shangli Huang | An artificial tubular muscle and application thereof |
| JP2004330354A (en) * | 2003-05-07 | 2004-11-25 | Tsubakimoto Chain Co | Three-dimensional micromanipulator |
| US20060156851A1 (en) * | 2004-12-02 | 2006-07-20 | Jacobsen Stephen C | Mechanical serpentine device |
| CN101219075B (en) * | 2007-11-27 | 2010-06-02 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| CN102152309B (en) * | 2011-03-08 | 2012-11-21 | 浙江工业大学 | Artificial muscle aggregation group |
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Inventor after: Wang Yangwei Inventor after: Chen Bai Inventor after: Tan Jinbo Inventor after: Zhao Dongbiao Inventor after: Liu Kai Inventor after: Lu Yonghua Inventor before: Wang Yangwei Inventor before: Zhao Dongbiao Inventor before: Chen Bai Inventor before: Liu Kai Inventor before: Lu Yonghua |
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