CN113290550A - Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type - Google Patents
Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type Download PDFInfo
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- CN113290550A CN113290550A CN202110580753.4A CN202110580753A CN113290550A CN 113290550 A CN113290550 A CN 113290550A CN 202110580753 A CN202110580753 A CN 202110580753A CN 113290550 A CN113290550 A CN 113290550A
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- mckiben
- artificial muscle
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 83
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 85
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 241000406668 Loxodonta cyclotis Species 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims description 34
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 5
- 238000010008 shearing Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 9
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The invention discloses a telescopic bionic elephant trunk device based on Mckiben type pneumatic artificial muscle driving, which comprises a base and a plurality of bionic units connected in sequence, wherein the plurality of bionic units adopt a design that the inclination is gradually reduced from top to bottom; the bionic unit at the upper end is connected with the base; and the adjacent bionic units or the bionic units are connected with the base through connecting discs. The Mckiben type pneumatic artificial muscle with good safety performance, low price, environmental protection and good flexibility is adopted to provide driving force for the bionic trunk device. The bionic trunk is good in flexibility, simple in structural design, light in weight, convenient to install and low in maintenance cost, can bear large tangential load, can simulate the movement of the trunk in the three-dimensional space at any angle in nature, can contract in the axial direction and can meet different movement requirements in a complex space.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a telescopic bionic trunk device based on Mckiben type pneumatic artificial muscle driving.
Background
In recent years, bionic robot devices are increasingly applied to the life and industrial fields of people, such as medical treatment, robots, aerospace and the like, and are more flexible and safer in the working process. Especially, the requirements on the device are higher and higher in some fields with special requirements, such as the processing and packaging processes of food and medicines, the requirement on cleanliness is higher; the fragile articles have higher requirements on safety in the carrying process; in the process of grabbing in a narrow space, the requirement on flexibility is high.
At present, the common driving modes include motor driving, hydraulic driving, shape memory alloy driving, air pressure driving and the like. The motor drive has the advantages of high control precision, high execution speed, high response speed and the like, but the complicated structure brings inconvenience to the design and the price is relatively high; the hydraulic drive has the advantages of remote control, large torque output, stepless speed change, long service life and the like, but has the defects of low flexibility, easy pollution of transmission media, high maintenance price and the like; the shape memory alloy is driven by alloy with a memory function, can bear large load, and has relatively high driving speed, but the service life of the shape memory alloy is short due to frequent shape change of the shape memory alloy, and the control of the shape memory alloy is difficult due to a hysteresis phenomenon. The pneumatic drive has the advantages of simple structure, good flexibility, safe use, low price and the like, and has wide application prospect.
The elephant nose in nature has higher flexibility, can move at any angle in a three-dimensional space, and the telescopic bionic elephant nose device based on the Mckiben type pneumatic artificial muscle driving has the movement characteristic of the elephant nose, can also move in an axial direction in a telescopic mode, breaks the boundary of biology and machinery, and therefore, the telescopic bionic elephant nose has important significance in designing the telescopic bionic elephant nose.
Disclosure of Invention
According to the defects of the functions of the existing bionic robot device, the invention aims to solve the problems that: imitate the elephant nose in nature, provide a flexible bionic elephant nose device, improve environmental suitability and flexibility, reduce the cost of manufacture, improve power/quality ratio, realize the control without any shake under the ultra-low speed motion state.
The invention aims to provide driving force for the bionic trunk device by adopting the Mckiben type pneumatic artificial muscle with good safety performance, low price, environmental protection and good flexibility. The bionic trunk is good in flexibility, simple in structural design, light in weight, convenient to install and low in maintenance cost, can bear large tangential load, can simulate the movement of the trunk in the three-dimensional space at any angle in nature, can contract in the axial direction and can meet different movement requirements in a complex space.
A telescopic bionic trunk device based on Mckiben type pneumatic artificial muscle driving comprises:
a base;
the bionic units are connected in sequence, and the inclination of the bionic units is gradually reduced from top to bottom; the bionic unit at the upper end is connected with the base; the adjacent bionic units are connected with each other or the bionic units are connected with the base through connecting discs, and each bionic unit comprises a plurality of Mckiben type pneumatic artificial muscles and a cross universal joint; the plurality of cross universal joints are fixedly arranged on the corresponding connecting discs, the cross universal joints of the upper connecting disc and the lower connecting disc are connected through Mckiben type pneumatic artificial muscles, an elastic piece is arranged between the upper connecting disc and the lower connecting disc, the Mckiben type pneumatic artificial muscles provide driving force, the shear force at two ends of the pneumatic artificial muscles is eliminated when the connecting discs perform deflection movement, and the pneumatic artificial muscles are protected from being damaged.
Further, the number of the bionic units is 3.
Further, the number of the connecting discs is 4, and the connecting discs are gradually reduced from top to bottom.
Furthermore, the bionic unit comprises 4 Mckiben type pneumatic artificial muscles and 8 cross universal joints, the 8 cross universal joints are divided into two groups and are respectively installed on corresponding connecting discs, and the cross universal joints in each group are installed at 4 uniform intervals.
Further, the elastic member includes a compression spring and a corrugated pipe with a hole.
Furthermore, the Mckiben type pneumatic artificial muscle comprises a woven mesh, a rubber hose, an upper sealing element and a lower sealing element, the rubber hose is wrapped by the woven mesh, the upper sealing element and the lower sealing element are respectively connected with the rubber hose through interference fit to provide driving force for the bionic elephant nose, and the upper sealing element and the lower sealing element are respectively connected between the connecting discs and the corresponding upper cross universal joint and the corresponding lower cross universal joint.
Furthermore, the upper sealing element and the lower sealing element are respectively and fixedly connected with the rubber hose in a sealing way through fastening rings.
Furthermore, the connecting discs respectively comprise an upper connecting disc, a middle connecting disc and a bottom connecting disc, the upper connecting disc is connected with the fixing base and provided with the cross universal joint through bolts, and the middle connecting disc and the bottom connecting disc are provided with the cross universal joint.
Furthermore, two ends of the elastic piece are connected to the center of mass of the connecting disc in a welding mode so as to play roles in supporting the connecting disc and bending and guiding.
Furthermore, the cross universal joint is connected between the pneumatic artificial muscle and the connecting disc through a bolt so as to eliminate shearing force at two ends of the pneumatic artificial muscle during deflection motion of the connecting disc and protect the pneumatic artificial muscle from being damaged.
Furthermore, the bionic units adopt a design mode of internal high cohesion installation and external low coupling connection, and are connected in a cascading mode, so that coupling influence among the bionic units in the motion process is effectively avoided.
Further, an air inlet is formed in an upper sealing element of the Mckiben type pneumatic artificial muscle in a side hole air inlet mode.
Compared with the related technology, the telescopic bionic trunk device based on the Mckiben type pneumatic artificial muscle driving provided by the invention has the following beneficial effects:
1. the Mckiben type pneumatic artificial muscle is used as a driving device, has the advantages of simple structure, large power/mass ratio, low price, good environmental adaptability, necessary flexibility and the like, and can realize the control without any shaking in the ultra-low speed motion state.
2. The bionic unit adopts a design mode of gradually reducing the inclination from top to bottom, so that the load of the upper bionic unit is effectively reduced, and the overall flexibility and load capacity are improved.
3. The bionic units adopt a design mode of internal high-cohesion installation and external low-coupling connection, and cascade connection is adopted among the bionic units, so that cascade connection of a plurality of bionic units can be realized. The motion between the bionic units is independent, and the coupling influence between the bionic units in the motion process is effectively avoided.
4. The Mckiben type pneumatic artificial muscle and the connecting disc are connected through the cross universal joint, so that the two ends of the pneumatic artificial muscle are protected from being damaged by shearing force in the deflection process, and the service life of the pneumatic artificial muscle can be effectively prolonged.
5. The connecting discs are supported by the pressure springs, so that the connecting discs can be supported, the bending and guiding functions can be realized, deflection motion and axial telescopic motion can be performed simultaneously, and the motion range of any position and angle in three-dimensional space can be effectively expanded.
6. The Mckiben type pneumatic artificial muscle upper sealing element adopts a side hole air inlet design mode, so that the mass of the pneumatic artificial muscle is effectively reduced, and the structure of the pneumatic artificial muscle is more compact.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an overall perspective view of a telescopic bionic trunk device based on Mckiben type pneumatic artificial muscle drive provided by the invention;
FIG. 2 is a perspective view of the bionic unit in the embodiment shown in FIG. 1;
FIG. 3 is a perspective view of the Mckiben type pneumatic artificial muscle component of the embodiment of FIG. 1;
FIG. 4 is a perspective view of the Mckiben type pneumatic artificial muscle assembly of the embodiment of FIG. 1;
FIG. 5 is a perspective view of the cross-gimbal of the embodiment of FIG. 1;
FIG. 6 is a perspective view of the biomimetic trunk device of the present invention in a compressed state;
figure 7 is a perspective view of a deflected state of the biomimetic trunk device of the present invention.
Reference numerals: 1-bottom layer connecting disc, 2-cross universal joint, 3-lower sealing element, 4-Mckiben type pneumatic artificial muscle, 5-rubber tube, 6-woven mesh, 7-upper sealing element, 8-middle layer connecting discs I, 9-middle layer connecting discs II, 10-pressure spring, 11-air inlet, 12-upper layer connecting disc and 13-base.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to the defects of the functions of the existing bionic robot device, the invention aims to solve the problems that: imitate the elephant nose in nature, provide a flexible bionic elephant nose device, improve environmental suitability and flexibility, reduce the cost of manufacture, improve power/quality ratio, realize the control without any shake under the ultra-low speed motion state.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1-7, the telescopic bionic trunk device based on the Mckiben type pneumatic artificial muscle drive comprises a base 13 and a plurality of bionic units which are connected in sequence.
The plurality of bionic units are designed to be gradually reduced in inclination from top to bottom, the bionic units at the upper ends are connected with the base 13, and adjacent bionic units are connected with each other or the bionic units are connected with the base 13 through connecting discs.
The bionic unit comprises a plurality of Mckiben type pneumatic artificial muscles 4 and a cross universal joint 2; a plurality of cross universal joints 2 are fixedly arranged on corresponding connecting discs, the cross universal joints 2 of the upper connecting disc and the lower connecting disc are connected through Mckiben type pneumatic artificial muscles 4, elastic pieces are arranged between the upper connecting disc and the lower connecting disc, the Mckiben type pneumatic artificial muscles 4 provide driving force, the cross universal joints 2 eliminate shearing force at two ends of the pneumatic artificial muscles during connecting disc deflection movement, and the pneumatic artificial muscles are protected from being damaged.
In some embodiments, the number of the plurality of bionic units is 3, and the 3 bionic units are only preferred modes of the invention and do not limit the protection scope of the invention, and can be selected by a person skilled in the art according to actual situations.
In some embodiments, the number of the connection discs is 4, and gradually decreases from top to bottom. Whether the size of the 4 connecting discs is gradually reduced or not does not limit the protection scope of the invention, and it is worth explaining that the distance from the cross universal joint installed on the 4 connecting discs from top to bottom to the center of mass of the connecting discs is reduced.
In some embodiments, the bionic unit comprises 4 Mckibben type pneumatic artificial muscles 4 and 8 cross universal joints 2, wherein the 8 cross universal joints 2 are divided into two groups and are respectively installed on corresponding connecting discs, and each group of the cross universal joints is 4 uniformly spaced (as shown in fig. 2).
In some embodiments, the elastic member may be a compression spring 10, a corrugated pipe with holes, and the like, which is not exhaustive, as long as the elastic member can support the connecting disc and perform bending guiding when being in a compressed state.
In some embodiments, as shown in fig. 3, the Mckibben pneumatic artificial muscle comprises a woven mesh 6, a rubber hose 5, an upper sealing member 7 and a lower sealing member 3, wherein the rubber hose 5 is externally wrapped by the woven mesh 6, the upper sealing member and the lower sealing member are respectively connected with the rubber hose 5 through interference fit to provide driving force for the bionic elephant nose, the upper sealing member 7 and the lower sealing member 3 are respectively connected with the corresponding upper cross universal joint 2 and the corresponding lower cross universal joint 2 between the connecting discs, and the upper sealing member and the lower sealing member are respectively fixedly connected with the rubber hose through a fastening ring 5 in a sealing manner.
In some embodiments, as shown in fig. 1, the plurality of connection pads respectively include an upper connection pad 12, a middle connection pad i 8, a middle connection pad ii 9 and a bottom connection pad 1, the upper connection pad 12 is connected with a fixed base 13 and the mounting cross universal joint 2 through bolts, and the middle connection pad ii 9, the middle connection pad i 8 and the bottom connection pad 1 are provided with the cross universal joint 2; two ends of the elastic piece are connected with the center of mass of the upper layer connecting disc 12, the middle layer connecting disc I8, the middle layer connecting disc II 9 or the bottom layer connecting disc 1 in a welding mode so as to play roles in supporting the connecting discs and bending and guiding.
In some embodiments, the cross universal joint 2 is connected between the pneumatic artificial muscle 4 and the connecting disc through bolts so as to eliminate shearing force at two ends of the pneumatic artificial muscle during deflection movement of the connecting disc and protect the pneumatic artificial muscle from being damaged.
In some embodiments, the bionic units are mounted in a high-cohesion internal mode and connected in a low-coupling external mode, and the bionic units are connected in a cascading mode, so that coupling influence among the bionic units in the motion process is effectively avoided. The noun explains: the high cohesion, low coupling statement is derived from the concept of 'high cohesion' installation in software engineering, and the bionic unit designed by the patent has independent motion functions and can be independently used as a mechanism, so that the bionic unit is a high cohesion design. "Low coupling" means that the bionic units are simple to cascade and are therefore low in coupling.
In some embodiments, the upper sealing element 7 of the Mckiben type pneumatic artificial muscle 4 is provided with the air inlet 11 in a side hole air inlet mode, so that the mass of the pneumatic artificial muscle is effectively reduced, and the structure of the pneumatic artificial muscle is more compact.
The working principle and the process are as follows:
the work principle of Mckiben type qigong artificial muscle: inside the Mckibben type qigong artificial muscle 4 is a rubber hose, the material of which provides good flexibility. Compressed air is filled in through the air inlet 11 of the side hole of the upper sealing element 7, the rubber hose 5 expands radially due to the difference of pressure between the inside and the outside of the rubber hose 5, the rubber hose 5 is blocked by the woven mesh 6 and is converted into axial contraction motion, meanwhile, the woven mesh 6 deforms along with the axial contraction of the rubber hose 5, and the pneumatic artificial muscle outputs tension in the axial direction. The compressed air in the pneumatic artificial muscle is released, the pressure difference between the inside and the outside of the rubber hose 5 is reduced, the pneumatic artificial muscle is radially reduced, the pneumatic artificial muscle is axially extended, and the pneumatic artificial muscle is restored to the initial state.
Bionic unit deflection motion: the adjacent Mckiben type pneumatic artificial muscles are in a pair, all the pneumatic artificial muscles 4 are pre-inflated firstly, then compressed air is inflated into the first pair of pneumatic artificial muscles 4, meanwhile, the same compressed air is released by the second pair of pneumatic artificial muscles 4, the pneumatic artificial muscles contract to generate tensile force, the tensile force difference is generated on the two sides of the connecting disc, and therefore the connecting disc is driven to deflect, and the compression spring 10 bends and guides the connecting disc to deflect. The compressed air in the first pair of pneumatic artificial muscles 4 is released, meanwhile, the same compressed air is filled into the second pair of pneumatic artificial muscles 4, the pneumatic artificial muscles relax and recover to a pre-inflation state, and the telescopic bionic trunk returns to the pre-inflation state.
The bionic unit performs telescopic motion: firstly, the Mckiben type pneumatic artificial muscle 4 is pre-inflated, then the same compressed air is inflated into the pneumatic artificial muscle of the bionic unit, the pneumatic artificial muscle contracts in the axial direction, and the pressure spring 10 is axially stressed, so that the axial contraction motion is generated. Compressed air in the pneumatic artificial muscle is released, the axial pressure of the pressure spring is reduced, the pressure spring axially extends, and the telescopic motion is completed.
The telescopic bionic trunk device driven by the Mckiben type pneumatic artificial muscles is installed by the bionic units in a cascade mode of gradually reducing the inclination from top to bottom, so that the coupling influence between the bionic units in the motion process can be avoided, the deflection motion and the axial telescopic motion can be completed simultaneously, and the motion range of any position and angle in a three-dimensional space is greatly expanded.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A scalable bionic trunk device based on Mckiben type pneumatic artificial muscle drive, characterized by comprising:
a base;
the bionic units are connected in sequence, and the inclination of the bionic units is gradually reduced from top to bottom; the bionic unit at the upper end is connected with the base; the adjacent bionic units are connected with each other or the bionic units are connected with the base through connecting discs, and each bionic unit comprises a plurality of Mckiben type pneumatic artificial muscles and a cross universal joint; the plurality of cross universal joints are fixedly arranged on the corresponding connecting discs, the cross universal joints of the upper connecting disc and the lower connecting disc are connected through Mckiben type pneumatic artificial muscles, and elastic pieces are arranged between the upper connecting disc and the lower connecting disc.
2. The telescopic bionic elephant trunk device based on Mckiben type pneumatic artificial muscle driving is characterized in that the bionic unit comprises 4 Mckiben type pneumatic artificial muscles and 8 cross universal joints, the 8 cross universal joints are divided into two groups and are respectively installed on corresponding connecting discs, and each group of the cross universal joints are installed at 4 uniform intervals.
3. The Mckiben-type pneumatic artificial muscle actuation-based retractable biomimetic trunk device as recited in claim 1, wherein the elastic member comprises a compression spring and a corrugated tube with holes.
4. The telescopic bionic elephant nose device based on Mckiben type pneumatic artificial muscle driving is characterized in that the Mckiben type pneumatic artificial muscle comprises a woven mesh, a rubber hose, an upper sealing element and a lower sealing element, the rubber hose is wrapped by the woven mesh, the upper sealing element and the lower sealing element are respectively connected with the rubber hose through interference fit to provide driving force for the bionic elephant nose, and the upper sealing element and the lower sealing element are respectively connected with corresponding upper cross universal joints and corresponding lower cross universal joints between connecting discs.
5. The telescopic bionic elephant trunk device based on the Mckiben type pneumatic artificial muscle driving is characterized in that the upper sealing element and the lower sealing element are respectively and fixedly connected with the rubber hose in a sealing mode through fastening rings.
6. The telescopic bionic elephant trunk device based on Mckiben type pneumatic artificial muscle driving as claimed in claim 1, wherein the connecting discs respectively comprise an upper connecting disc, a middle connecting disc and a bottom connecting disc, the upper connecting disc is connected with a fixed base and a mounting cross universal joint through bolts, and the middle connecting disc and the bottom connecting disc are provided with the mounting cross universal joint.
7. The telescopic bionic trunk device based on the Mckiben type pneumatic artificial muscle driving is characterized in that two ends of the elastic piece are connected to the center of mass of the connecting disc in a welding mode to play roles in supporting the connecting disc and bending and guiding.
8. The telescopic bionic trunk device based on Mckiben type pneumatic artificial muscle driving as claimed in claim 1, wherein the cross universal joint is connected between the pneumatic artificial muscle and the connecting disc through bolts so as to eliminate shearing force at two ends of the pneumatic artificial muscle during deflection movement of the connecting disc and protect the pneumatic artificial muscle from being damaged.
9. The telescopic bionic elephant trunk device based on Mckiben type pneumatic artificial muscle driving as claimed in claim 1, wherein the bionic units are designed in a manner of internal 'high cohesion' installation and external 'low coupling' connection, and are connected in a cascading manner, so that coupling influence between the bionic units in the movement process is effectively avoided.
10. The telescopic bionic elephant trunk device based on Mckiben type pneumatic artificial muscle driving is characterized in that an upper sealing piece of the Mckiben type pneumatic artificial muscle is provided with an air inlet in a side hole air inlet mode.
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| CN202110580753.4A CN113290550A (en) | 2021-05-26 | 2021-05-26 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
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| CN202110580753.4A CN113290550A (en) | 2021-05-26 | 2021-05-26 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
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