CN106625578B - A kind of artificial-muscle and its application, robot - Google Patents
A kind of artificial-muscle and its application, robot Download PDFInfo
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- CN106625578B CN106625578B CN201611023595.8A CN201611023595A CN106625578B CN 106625578 B CN106625578 B CN 106625578B CN 201611023595 A CN201611023595 A CN 201611023595A CN 106625578 B CN106625578 B CN 106625578B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
A kind of artificial-muscle is mainly made of driving body, threadlike body, helical orbit；The maximum length of threadlike body is greater than the overall length of helical orbit；Threadlike body a part is limited to spiral shape by helical orbit；The helical orbit is made of the uniform cylinder of a variable diameter and at least one stop collar；Stop collar is located on the cylinder of cylinder one end, the diameter line vertical cylinder axis of stop collar；Threadlike body is looped around on cylinder, and threadlike body one end is fixedly connected with cylindrical body, and the threadlike body other end passes through stop collar；Threadlike body has at least one circle spiral between threadlike body and cylinder fixed connection point and stop collar.A kind of artificial-muscle, driving body reasonably include with artificial-muscle above-mentioned.A kind of machine using artificial-muscle has the artificial-muscle.Robot uses the artificial-muscle.The configuration of the present invention is simple, it is economical and practical.
Description
Technical field
The invention belongs to dynamic field more particularly to a kind of artificial-muscles.
Background technique
Artificial-muscle is the problem of robot, and the artificial-muscle of the prior art has that fast strength of stretching is small, strength is big
The problems such as flexible slow, flexible percentage deficiency, it is difficult to which practical application, the present invention propose a kind of a kind of practical artificial muscle
Meat realizes fine motion superposition, can smoothly dock, can quickly popularize with the prior art.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art proposing a kind of artificial-muscle, the present invention realizes stroke and puts
Greatly.
The present invention has following technology contents.
1, a kind of artificial-muscle, it is characterised in that: be mainly made of driving body, threadlike body, helical orbit；Threadlike body is most
Long length is greater than the overall length of helical orbit；Threadlike body a part is limited to spiral shape by helical orbit；Helical orbit limitation is linear
The movement of body slides the movement of the particle on the spiral part of threadlike body predominantly along the helix of spiral part；Threadlike body tool
It is flexible or elastic；Driving body drives the screw diameter of helical orbit flexible.
2, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the driving body is Fluid pressure cause
Dynamic, electric actuation, thermal actuation, magnetic actuation, photic dynamic, Electromagnetically actuated, chemical actuating.
3, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the helical orbit is in the axial direction at least
2 circles.
4, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the helical orbit is radially at least
2 circles.
5, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: spiral of the helix tube under driving body driving
Overall length variation is greater than screw pitch overall length and changes.
6, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the helical orbit is equal by a variable diameter
Even double-layered cylinder is constituted；The distance of two layers of double-layered cylinder is greater than two times that threadlike body diameter is less than threadlike body diameter；It is double
At least one section of attachment between two layers of layer cylinder has threadlike body can be in the channel wherein slided.
7, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the helical orbit is equal by a variable diameter
Even cylinder and at least one stop collar are constituted；Stop collar is located on the cylinder of cylinder one end, the diameter line vertical cylinder of stop collar
Axis；Threadlike body is looped around on cylinder, and threadlike body one end is fixedly connected with cylindrical body, and the threadlike body other end passes through stop collar；Line
Shape body has at least one circle spiral between threadlike body and cylinder fixed connection point and stop collar.
8, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: the helical orbit is equal by a variable diameter
Even cylinder and at least two stop collar are constituted；Stop collar is located on the cylinder at cylinder both ends, the diameter line vertical cylinder of stop collar
Axis；Threadlike body is looped around on cylinder, and the both ends of threadlike body are pierced by from stop collar respectively；Threadlike body has between two stop collars
There is at least one circle spiral.
9, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: also there is telescoping tube outside it；Threadlike body
Both ends be connected to the both ends of telescoping tube.
10, a kind of artificial-muscle as described in technology contents 1, it is characterised in that: also there is dimension shape spring；Tie up shape spring with
Telescoping tube is connected.
11, a kind of machine using artificial-muscle, it is characterised in that: have in technology contents 1-10 described in any one
Artificial-muscle.
Technology contents explanation and its utility model has the advantages that
Cardinal principle of the invention: change the screw diameter of threadlike body to change the actuation length of threadlike body, due to spiral
The change of object diameter will lead to the change of spiral part perimeter, and the change of each circumference of same helix can be superimposed, therefore can
Reach the technical effect for making subtle expanding-contracting action superposition amplification, this is for overcoming Electromagnetically actuated magnetic force to increase sharply with distance
Become smaller, fluid pressure actuated (air pressure, hydraulic) space more big-movement is slower, inverse piezoelectric effect actuating (one kind of electric actuation) stroke
The defect of small etc. the prior art has a very big significance；
If spiral number of turns are N；If Zhou Changwei T1, radius r1, diameter R1, spiral overall length before single turn helix radius change
For L1；If Zhou Changwei T2, radius r2, diameter R2, spiral overall length are L2 before single turn helix radius change；
Then there is formula: (1), Δ L=L2-L1=Δ T*N=(T2-T1) * N=2 π Δ r*N；
From the above equation, we can see that the displacement equations mode of spiral variable diameter is mainly related unrelated with quantity with circle number, so can lead to
Toning number of full circle N adjusts magnification ratio；
Assuming that being used for driving body of the invention using artificial-muscle of the invention, and it is (non-for driving body to set artificial-muscle
) helical orbit circle number M, set spiral overall length change as Δ L', radius change be Δ r'；
Then there is Δ L'=2 π Δ r'*M；
Use at least one artificial-muscle as driving body, since spiral is round, therefore can rough identification be mounted on
Drive the radius change size Δ r' of the spiral for the artificial-muscle that will lead under the displacement L ideal effect of intracorporal artificial-muscle
=Δ L/2 (there may be Δ r'=Δ L as the driving body of artificial-muscle of the invention using a plurality of artificial-muscle of the invention,
In order to which problem reduction does not do excessive description；)
Then have most: Δ L'=2 π Δ L/2*M；
Above formula, which substitutes into formula (1), then to be had: Δ L'=2 π Δ L/2*M=π * (2 π Δ r*N) * M=2 π 2* Δ r*N*M；
From the above, it can be seen that use artificial-muscle of the invention as driving body in artificial-muscle of the invention, adjustment parameter N,
M can obtain very big displacement equations multiple；
From the above, it can be seen that it is of the invention be in structure can with recursive structure (one word of recursive structure for the present inventor oneself definition
, it refers mainly to repeat nonlinear superposition design structure, recursive structure refers to multi-level (being more than or equal to 3 layers) in the present invention
Repeat ' using the threadlike body of low level artificial-muscle it is flexible come drive higher level artificial-muscle helical orbit change
Diameter ' design, constitute a displacement equations chain), so that the raising displacement equations multiple of great-jump-forward is (assuming that third layer helical orbit
Number is enclosed as B circle, then has the π 3* of Δ L "=2 Δ r*N*M*B, adjustment parameter N, M, B that can obtain very big displacement equations multiple)；
Above operation is in order to illustrate amplification factor of the invention is main and helical orbit circle number, iterative design number of plies phase
It closes, the understanding of reader will not be impacted calculating and a small amount of falsehood occur.
Vocabulary explanation.
' driving body ' refers to that the entity of driving helical orbit screw diameter variation, driving body can be element, device, can also
To be functional module, driving body may be with other devices or element common elements or structure, this is common situations in machinery；It drives
Kinetoplast is for example: filling a large amount of piezoelectric ceramics on a columnar shape basal surface, manipulates piezoelectric ceramics radially stretching in matrix；It is hollow
Inflatable elastic ball etc..
' threadlike body ' refers to thread, such as iron hoop chain, steel cable, spring etc., uses threadlike body Shi Yingjie of different nature
Close ' common knowledge ', ' prior art ', ' rudimentary knowledge ' use different designs, not violate that ' design one can be normal benign
Operation artificial-muscle ' technical purpose be deliberately set to cannot to run, such as: should be adopted using when flexible linear body
With actuating when increase helical orbit screw diameter mode, and the length of the slack of flexible linear body cannot be greater than actuating when
Contracted length, for another example: when using elastic threadlike body, it should be noted that threadlike body elastic force and stretching, extension span relationship avoid using as far as possible
Elastic force very little stretches span but very big elastic threadlike body, for another example: it should be noted that the strength of driving body variable diameter should overcome threadiness enough
The internal stress of body, so as not to occur because threadlike body intensity is too big and cause threadlike body spiral part can not variable diameter the case where, etc..
' helical orbit ', which refers to, can be limited to threadlike body the constant spiral entity of variable diameter hour circle number or by entity institute
The space path of limitation；Helical orbit can be element, device, cavity or slot with spiral shape, constitute helical orbit
Element, device may be with other devices or element common elements or structure, this is common situations in machinery field；Helical orbit ratio
Such as: the spiral-shaped, cylinder that slot is arranged in by helix tube, the helicla flute of periphery, the slotted element of multiple tools is intracorporal
Threaded hole etc., helical orbit can be multiple spiral, helical orbit can be on the whole it is curved, using when design because as far as possible
It avoids manufacturing helical orbit using flexible too strong material；It is worth noting that person trained in a certain field may attempt to design
Strange track evades the application, but as long as track of its design contains helical orbit, and threadlike body cooperates its track shape
Its track should then be regarded at spiral as helical orbit described herein；Since the variation of screw pitch will affect spiral overall length therefore this hair
Bright helical orbit avoid the spiral overall length variation weakening screw diameter generated by screw pitch variation from changing production as far as possible when designing
The case where raw spiral overall length changes；In the case where ignoring threadlike body completely, vision judges helical orbit of the invention up
Go may not be spiral shape (such as situation described in technology contents 6-8 be cooperation threadlike body winding after could visually
Obtain spiral shape), helical orbit of the invention is considered as helical orbit when designing or the spiral coil of threadlike body is upward in helical axis
Sliding problem, and be defined and prevent because the sliding of spiral coil causes the product designed cannot by rationally designing
Flexible situation.
' movement of helical orbit limitation threadlike body makes the movement of the particle on the spiral part of threadlike body predominantly along spiral
Partial helix sliding ' it is transported since the movement of the particle on the spiral part of threadlike body can have micro turn and radial direction
Dynamic, so ' main ' word is used to meet human language habit, ' main ' word should not be considered as by the reader of the application
Fuzzy sets.
' threadlike body a part is limited to spiral shape by helical orbit ' contains threadlike body in helical orbit space interior, line
Shape body is slidably coated on the connection relationship that track solid exterior etc. can be such that threadlike body is constrained by helical orbit.
' driving body drives the screw diameter of helical orbit flexible ' the i.e. variation of driving body driving screw diameter.
' telescoping tube ' refers to the pipe that length can passively change.
' dimension shape spring ' refers to that the spring for safeguarding telescoping tube shape, elastic force cannot be too big.
' maximum length of threadlike body ' refer to threadlike body can normal use when maximum length because some threadlike bodies are long
It is short variable, therefore have this restriction.
' spiral overall length ' i.e. spiral part expands into the total of the length of straight line after straight line namely each circumference of helical orbit
With.
' spiral ', the mankind accurately define spiral without perfection, and people even claim the camber line of a plurality of radial arrangement
For spiral, in order to guarantee the clear of definition, spiral of the invention is defined in: at least there is one not to be selfed the continuous of convolution completely
The path of point set or line-segment sets, wherein ' complete ' refers to that convolution is greater than or equal to 360 degree, such as spring, Archimedes spiral, electricity
The solenoid etc. of magnet, helical axis can be straight line (when helix tube is straight), curve (when helix tube is bent), helical curve (spiral
Pipe again spiral when be helix), the present invention in spiral include helix (axial multi-turn) path, vortex filament (radial multi-ring)
Path, taper helical path, variable-pitch propeller path, variable diameter helical path, multilayer helical path and other helical wire forms
Path and their combination may exist corner angle in spiral of the invention.
Beneficial effects of the present invention: structure is simple, economical and practical.
Detailed description of the invention
Fig. 1 is an embodiment schematic diagram of the invention.
Fig. 2 is an embodiment schematic diagram of the invention.
Fig. 3 is an embodiment schematic diagram of the invention.
Fig. 4 is an embodiment schematic diagram of the invention.
Fig. 5 is an embodiment schematic diagram of the invention.
Fig. 6 is an embodiment schematic diagram of the invention.
Fig. 7 is the schematic diagram of an embodiment of the invention.
Specific embodiment
Below in conjunction with embodiment, embodiments of the present invention will be described.
Embodiment 1, as shown in Figure 1, a kind of artificial-muscle, by layered electrode A1, piezoelectric ceramics A11, conducting circular cylinder
A10, spring A3, multiple snak link A2 are constituted；Snak link A2 helical arrangement constitutes helical orbit；Spring A3 winding spring buckles A2 structure
At helical orbit in；Piezoelectric ceramics A11 is covered on the surface conducting circular cylinder A10；Layered electrode A1 covers piezoelectric ceramics A11 table
Face；Conducting circular cylinder A10 is connect with conducting wire A50；Layered electrode A1 is connect with conducting wire A5；Layered electrode A1 has extension ability；It gives
Piezoelectric ceramics expands after conducting wire A5, conducting wire A50 are powered, and is that helical orbit screw diameter (X) increases, makes spring A3 in helical orbit
Axial direction on (Y) shrink.
Embodiment 2, as shown in Fig. 2, a kind of artificial-muscle, from ball B1, limit to block B4, steel wire B3 and constitute；Rubber
There are cavity B10, cavity B10 to have inlet channel B100 inside ball B1；There is spiral vestibule as helical orbit in the wall of ball B1
B2；In steel wire B3 winding screw track B2；Limiting the expansion direction to block B4 with very strong rigid restriction ball B1 is spiral
Track B2 radial direction；After increasing the air pressure in cavity B10 by inlet channel B100；Ball B1 is radial in helical orbit B2
(X) it is expanded on direction, the screw diameter of helical orbit B2 is caused to increase；And then cause steel wire B3 in the axial direction of helical orbit
(Y) it shrinks；The both ends of steel wire B3 can be connected to the mechanical joint both ends for needing to activate when use.
Embodiment 3, as shown in figure 3, a kind of artificial-muscle, by conductive drum C1, spring C3, multiple piezoelectric ceramics C2,
C20, multiple arcs conductive plate C4, C40, multiple annulus C6 compositions；Annulus C6 is helically arranged to make up helical orbit；By conducting wire
C51 and C50 is shorted, and is powered between conducting wire C50, C5, and piezoelectric ceramics C20 elongation reduces the screw diameter of spring, and then makes
Spring is stretching；Matrix is conductive drum C1, and actuation body is conductive drum C1, piezoelectric ceramics C2, arc conductive plate C4, C40；?
Common elements, structure are common situations between each part function module of machinery field.
Embodiment 4 is modified on the basis of embodiment 3 piezoelectric ceramics being revised as Pneumatic extension body.Embodiment
5, it is modified on the basis of embodiment 3 and piezoelectric ceramics is revised as Pneumatic extension body, spring is revised as steel cable.
Embodiment 6, matrix is changed to passively extend the entity of shortening by modification on the basis of embodiment 3, line
Shape body is all mounted in matrix.
Embodiment 7, modification will increase helical orbit quantity in ball B1 wall on the basis of embodiment 2, and make
Helical orbit is coaxial parallel (the parallel concept of helix is referring to oriented parallel concept), penetrates one or more in each helical orbit
Root steel cable increases load-carrying ability and redundant ability.
One embodiment 8, design vortex-like pipe with toughness, install extrusome between the tube wall of vortex-like pipe, by line
Shape body is through in vortex-like pipe.
Embodiment 9, such as Fig. 4 increase a telescoping tube D1 in the external of embodiment 2, and steel wire is connected to telescoping tube
The air pressure inside ball B1 is improved by inlet channel B100 in both ends, and telescoping tube D1 is just shunk under the drive of steel wire, relatively
Embodiment 2 has dust-proof benefit.
Embodiment 10, such as Fig. 5 are axial between telescoping tube D1 and helical orbit on the flexible inside pipe wall of embodiment 9
The spring D2 of one elastic force very little is installed, the both ends of spring D2 are connected with the both ends of telescoping tube D1.Embodiment 11, such as Fig. 6 exist
Increase on the basis of embodiment 10 and shrinks unit.
Modification makes to limit on the basis of embodiment 12, embodiment 9 is fixedly linked to block B4 and one end of telescoping tube D1.
Embodiment 2 is changed to hydraulic control by embodiment 13.
Embodiment 2 is changed to Chemical Control control by embodiment 14, generates gas using a variety of reactants to improve chamber
Pressure expands ball B1 in vivo, and increases a drain passage.
3 piezoelectric ceramics of embodiment is changed to mutual exclusion coil by embodiment 15, is increased guide rod between mutual exclusion coil, is made
Magnetic force not will lead to rotary motion between mutual exclusion coil, and the movement of distance change is only carried out after energization.
Embodiment 16, the metal clips that 3 piezoelectric ceramics of embodiment is changed to black heat metal clips using laser
It is set to stretch because of heating power.
Embodiment 17, the metal clips that 3 piezoelectric ceramics of embodiment is changed to black, the fluid for being passed through different temperatures make
Metal clips generates change in size.
Embodiment 18, as shown in fig. 7, a kind of artificial-muscle, by layered electrode E1, piezoelectric ceramic tube E11, layered electrode
E10, steel wire E3,2 ring E2 are constituted；2 ring E2 are located at the both ends of piezoelectric ceramic tube E11；Steel wire E3 winds piezoelectric ceramic tube
E11, the both ends steel wire E3 from two rings from being pierced by respectively；Layered electrode E1 covers the outer surface piezoelectric ceramic tube E11；Layered electrode
E10 covers piezoelectric ceramic tube E11 inner surface；Layered electrode E10 is connect with conducting wire E5；Layered electrode E1 is connect with conducting wire E50；Layer
Shape electrode E1 has extension ability；Piezoelectric ceramic tube E11 expands after being powered to conducting wire E5, conducting wire E50, keeps the spiral of steel wire E3 straight
Diameter increases, and shrinks steel wire E3 in the axial direction of the spiral of steel wire E3.
Embodiment 19 improves on the basis of embodiment 10, and a certain amount of lubricating oil is added in telescoping tube, is used for
Reduce the frictional resistance of steel wire.
The above are feasible programs of the invention；Since artificial-muscle of the invention is extrusome, extrusome can change spiral shell
The principle of rotation track spiral radius has embodied in the above embodiment of summary of the invention, therefore does not repeat；The present invention includes very much
Kind scheme, but its principle is all that change helical orbit screw diameter is long come the actuating for changing spiral circumference and then change threadlike body
Degree, it will be appreciated that can be carried out in conjunction with ' common knowledge ', ' prior art ' to the present invention after this central principle
Implement design, therefore no being repeated one by one.
Claims (2)
1. a kind of artificial-muscle, it is characterised in that: be mainly made of driving body, threadlike body, helical orbit；
The maximum length of threadlike body is greater than the overall length of helical orbit；
Threadlike body a part is limited to spiral shape by helical orbit；
The movement of helical orbit limitation threadlike body makes the movement of the particle on the spiral part of threadlike body predominantly along spiral part
Helix sliding；
Threadlike body has flexible or elasticity；
Driving body drives the screw diameter of helical orbit flexible；
The helical orbit is made of the uniform cylinder of a variable diameter and at least one stop collar；
Stop collar is located on the cylinder of cylinder one end, the diameter line vertical cylinder axis of stop collar；
Threadlike body is looped around on cylinder, and threadlike body one end is fixedly connected with cylindrical body, and the threadlike body other end passes through stop collar；
Threadlike body has at least one circle spiral between threadlike body and cylinder fixed connection point and stop collar.
2. a kind of machine using artificial-muscle, it is characterised in that: have artificial-muscle described in claim 1.
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| CN201510399691.1A CN104999475B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application |
| CN201611023595.8A CN106625578B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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| CN201611023568.0A Expired - Fee Related CN106695772B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023475.8A Active CN106426140B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and the machine using artificial-muscle |
| CN201611023595.8A Active CN106625578B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023594.3A Active CN106426143B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023567.6A Expired - Fee Related CN106426142B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023473.9A Active CN106426138B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023566.1A Expired - Fee Related CN106426141B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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| CN201611023568.0A Expired - Fee Related CN106695772B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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| CN201611023473.9A Active CN106426138B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023566.1A Expired - Fee Related CN106426141B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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| CN106426144B (en) * | 2015-08-28 | 2019-01-18 | 朱正直 | A kind of artificial-muscle and its application, robot |
| CN105598962B (en) * | 2015-12-22 | 2017-07-25 | 陈玉金 | A kind of emulation muscle of electromagnetic drive |
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| CN108054950A (en) * | 2017-12-21 | 2018-05-18 | 哈尔滨工业大学 | A kind of artificial-muscle of inverse piezoelectric effect driving |
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Also Published As
| Publication number | Publication date |
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| CN106695772A (en) | 2017-05-24 |
| CN106426141A (en) | 2017-02-22 |
| CN106426144B (en) | 2019-01-18 |
| CN106695772B (en) | 2019-03-05 |
| CN106426139A (en) | 2017-02-22 |
| CN106426142A (en) | 2017-02-22 |
| CN106426140A (en) | 2017-02-22 |
| CN106625578A (en) | 2017-05-10 |
| CN106426138B (en) | 2019-01-18 |
| CN104999475A (en) | 2015-10-28 |
| CN106426143A (en) | 2017-02-22 |
| CN104999475B (en) | 2017-11-14 |
| CN106426144A (en) | 2017-02-22 |
| CN106426138A (en) | 2017-02-22 |
| CN106426141B (en) | 2019-01-18 |
| CN106426139B (en) | 2019-02-22 |
| CN106426143B (en) | 2018-09-25 |
| CN106426142B (en) | 2019-03-01 |
| CN106426140B (en) | 2019-01-08 |
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