CN117001651A - Small artificial muscle driven by high-voltage electricity and driving method thereof - Google Patents
Small artificial muscle driven by high-voltage electricity and driving method thereof Download PDFInfo
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- CN117001651A CN117001651A CN202311065203.4A CN202311065203A CN117001651A CN 117001651 A CN117001651 A CN 117001651A CN 202311065203 A CN202311065203 A CN 202311065203A CN 117001651 A CN117001651 A CN 117001651A
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 72
- 230000005611 electricity Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000009834 vaporization Methods 0.000 claims abstract description 10
- 230000008016 vaporization Effects 0.000 claims abstract description 10
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- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 claims description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Prostheses (AREA)
Abstract
The application belongs to the technical field of bionic drivers, and provides a small artificial muscle driven by high-voltage electricity and a driving method thereof. The flexible muscle driven by high voltage electricity comprises an elastic tube and a woven net tube; the woven mesh tube is sleeved outside the elastic tube, and two ends of the woven mesh tube are respectively connected through the connecting joint assembly; the elastic tube is of a closed structure and is filled with liquid; the high-voltage positive electrode is arranged at one end in the elastic tube, and the high-voltage negative electrode is arranged at the other end in the elastic tube; the high-voltage power supply is connected with the high-voltage power supply through the high-voltage power supply anode and the high-voltage power supply cathode respectively. The small artificial muscle technology driven by high voltage is light, simple and reliable in structure and high in applicability; the high-voltage vaporization principle is adopted, so that the volume is greatly reduced, the response speed is improved, the working efficiency is improved, and the energy consumption is reduced; the manufacturing cost is low.
Description
Technical Field
The application relates to the technical field of bionic drivers, in particular to a small artificial muscle driven by high-voltage electricity and a driving method thereof.
Background
In the continuous and intensive robot research at present, the traditional motor and rigid transmission structure are large in occupied space, and the driving requirement of the robot cannot be met gradually due to single driving mode. Over the last 30 years, with rapid advances in technology, powerful support has been provided for the rapid development of flexible drives, i.e., artificial muscles.
The artificial muscle is used as an intelligent material integrating sensing and actuating functions and can realize reversible contraction, expansion, rotation and other movements when being subjected to external stimulus (such as light, electricity, magnetic force, temperature, PH value, pressure and the like). Currently, more mature artificial muscle products include pneumatic artificial muscles (CN 101306535A) and hydraulic artificial muscles (CN 109760038A). They operate by injecting a fluid into an elastic cavity by pneumatic or hydraulic means, causing the expansion or contraction of the cavity. Because of its structural characteristics, its travel is affected by load, its pneumatic displacement hysteresis characteristics also change with load, and are limited by cylinder and air pipe, etc., so that it is not possible to make miniature device. There is also a new type of electrically controlled stretchable composite artificial muscle (CN 111618837) which works on the principle of causing stretching changes of the artificial muscle by redistributing charges in the material, thereby creating an action. However, the artificial muscle technology has high energy consumption, and can consume high energy when working for a long time, so that the application of the artificial muscle technology in resource-restricted scenes such as mobile equipment is limited.
The application provides a small artificial muscle driven by high voltage and a driving method thereof, which have the working principle that high voltage is applied to two ends of an electrode when the small artificial muscle is operated, liquid is vaporized by high voltage discharge in an elastic tube, the liquid in the elastic tube is converted from liquid phase to gas phase in a very short time, the elastic tube is promoted to expand, and a woven mesh tube is contracted to generate the action.
The small artificial muscle technology driven by high voltage power has the characteristics of light weight, high efficiency, small volume, low energy consumption and short response time, and can show wide prospect in future application.
Disclosure of Invention
The application aims to solve the technical problems: in view of the problems of complex structure, large volume, slow response time, high manufacturing cost and high energy consumption of the novel electric control telescopic compound artificial muscle in the current pneumatic artificial muscle technology, the application aims to provide a small artificial muscle driven by high voltage electricity and a driving method thereof.
The technical scheme of the application is as follows: a small artificial muscle driven by high voltage electricity comprises an elastic tube 1 and a woven net tube 2; the woven net tube 2 is sleeved outside the elastic tube 1, and two ends of the woven net tube 2 are fixedly connected respectively; the elastic tube 1 is of a completely closed structure, and is filled with liquid; one end of the elastic tube 1 is internally provided with a high-voltage positive electrode 3, and the other end is internally provided with a high-voltage negative electrode 4; the high-voltage power supply is respectively connected with the high-voltage power anode 3 and the high-voltage power cathode 4.
The elastic tube 1 is of a hollow cylinder structure, the inner diameter of the elastic tube is 2mm to 3mm, the outer diameter of the elastic tube is 1.5 to 2 times of the inner diameter, and the length of the elastic tube is 35mm to 45mm; the elastic tube 1 is made of a material having high elasticity and maintaining original physical properties under a high temperature environment. The elastic tube material is any one of high-elasticity silicon rubber, high-temperature-resistant rubber and high-temperature-resistant elastic plastic.
The woven mesh tube 2 is of a parallelogram woven structure; the maximum inner diameter of the woven mesh tube 2 is 0.9-1 times of the outer diameter of the elastic tube 1; the woven mesh tube 2 is made of a material with scalability, flame retardance, wear resistance and high temperature resistance; the woven mesh tube material is any one of environment-friendly PET wires, cotton wires, nylon wires, PPS, tinned copper wires, bare copper wires or stainless steel wires.
The high-voltage anode 3 and the high-voltage cathode 4 are insulated high-voltage wires, the insulating material meets the voltage resistance characteristic of not lower than 100kV, the insulating strength meets the international standard, and the heat resistance is not lower than 100 ℃.
The high-voltage anode 3 is arranged at one end in the elastic tube 1, and the high-voltage cathode 4 is arranged at the other end in the elastic tube 1; the distance between the nearest ends of the high-voltage anode 3 and the high-voltage cathode 4 is 5mm to 15mm.
The liquid has conductivity and vaporization temperature not higher than 100 ℃.
The liquid is water, sodium chloride solution or ethanol solution.
In the method, high voltage electricity is applied to two ends of an elastic tube 1 respectively when the small artificial muscle is driven by high voltage electricity, and liquid is vaporized by high voltage discharge in the elastic tube 1, so that the elastic tube 1 is expanded, and further, the woven mesh tube 2 is contracted to generate action.
The voltage working range of the high-voltage power supply is 40kV-100kV.
The application has the beneficial effects that: the small artificial muscle driven by high-voltage electricity is light, simple and reliable in structure and high in applicability; compared with the traditional pneumatic artificial muscle, hydraulic artificial muscle and novel electric control telescopic composite artificial muscle, the flexible muscle provided by the application adopts the high-voltage electric evaporation principle, so that the volume is greatly reduced, the response speed is improved, the working efficiency is improved, and the energy consumption is reduced; the manufacturing cost is low.
The small artificial muscle driven by high-voltage electricity has the advantages of simple structure, good flexibility, no pollution, light weight, small volume, large contraction ratio and the like, and can be applied to the fields of rehabilitation medical appliances, medical care, aircrafts and the like.
The electric muscle technology provided by the application adopts a bag type structure, and the elastic tube is fixed with the woven mesh tube, so that the working efficiency and stability of the muscle are improved. The elastic tube is designed into a complete sealing structure, so that internal liquid is ensured not to leak, and the reliability of the technology is further improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a small artificial muscle driven by high voltage power in accordance with the present application;
FIG. 2 is a schematic overall cross-sectional view of a miniature artificial muscle driven by high voltage power in accordance with the present application;
FIG. 3 is a first schematic cross-sectional view of a miniature artificial muscle using high voltage electric drive in accordance with the present application;
FIG. 4 is a second schematic cross-sectional view of a miniature artificial muscle using high voltage electric drive in accordance with the present application;
FIG. 5 is a schematic diagram of the overall structure of a small artificial muscle driven by high voltage electricity in an operating state;
figure 6 is a schematic overall cross-sectional view of a small artificial muscle driven by high voltage electricity in an operating state.
In the figure: the device comprises a 1-elastic tube, a 2-woven mesh tube, a 3-high voltage power anode, a 4-high voltage power cathode, a 5-press nail a, a 6-plug a, a 7-connector a, an 8-press nail b, a 9-plug b, a 10-connector b, a 11-conical sleeve a, a 12-conical sleeve b, a 13-first fixing ring and a 14-second fixing ring.
Detailed Description
Specific embodiments of the application will be described in detail with reference to the drawings, from which those skilled in the art will understand the application and practice it. Features from various embodiments may be combined to obtain new implementations, or substituted for certain features from certain embodiments to obtain further preferred implementations, without departing from the principles of the application.
Fig. 1 to 4 show the inactive state, and fig. 5 and 6 show the active state.
A small artificial muscle driven by high voltage electricity comprises an elastic tube 1 and a woven net tube 2; the woven net tube 2 is sleeved outside the elastic tube 1, and two ends of the woven net tube 2 are fixedly connected respectively; the elastic tube 1 is of a completely closed structure, and is filled with liquid; one end of the elastic tube 1 is internally provided with a high-voltage positive electrode 3, and the other end is internally provided with a high-voltage negative electrode 4; the high-voltage power supply is respectively connected with the high-voltage power anode 3 and the high-voltage power cathode 4.
The mode of the fixed connection of the woven net tube 2 and the elastic tube 1 can be as follows: glued, screwed or connected by a connecting joint assembly.
The connector assembly includes a first connector assembly and a second connector assembly. The elastic tube 1 is connected with one end of the woven mesh tube 2 through a first connecting joint assembly, and the elastic tube 1 is connected with the other end of the woven mesh tube 2 through a second connecting joint assembly.
The first connecting joint component comprises a pressing nail a5, a plug a6 and a joint a7, the high-voltage electric negative electrode 4 and the elastic tube 1 are fixedly arranged, and the high-voltage electric negative electrode 4 sequentially passes through the plug a6, the pressing nail a5 and the joint a7; one end of the push pin a5 is arranged in the elastic tube 1, the other end of the push pin a5 is connected with one end of the plug a6, the plug a6 is arranged in the woven mesh tube 2, the other end of the plug a6 is connected with the connector a7, and the connector a7 is arranged outside the woven mesh tube 2.
The second connecting joint assembly comprises a pressing nail b8, a plug b9 and a joint b10, one end of the pressing nail b8 is arranged in the elastic tube 1, the other end of the pressing nail b8 is connected with one end of the plug b9, the plug b9 is arranged in the woven mesh tube 2, the other end of the plug b9 is connected with the joint b10, and the joint b10 is arranged outside the woven mesh tube 2.
Further, the plug a6 and the plug b9 are conical plugs.
Further, a conical sleeve is arranged on the outer side of the conical plug, and the conical sleeve is a11 and a conical sleeve b12 respectively.
Further, the conical plug comprises a groove and a conical surface, the pressing nail a5 or the pressing nail b8 is connected with the groove, the groove is matched with the pressing nail a5 and the pressing nail b8 to fix the elastic tube 1, and the conical surface is matched with the conical sleeve 10 to fix the woven mesh tube 2. The pin a5 presses one end of the elastic tube 1 into a groove below the tapered plug in the middle of the elastic tube 1, and fixes one end of the elastic tube 1 by friction force generated by extrusion. The other end of the elastic tube 1 is pressed into the groove below the conical plug by the pressing pin b 8.
Further, the joint a7 includes a first fixing ring 13, the first fixing ring 13 is disposed at an end of the joint a7, the joint b10 includes a second fixing ring 14, and the second fixing ring 12 is disposed at an end of the joint b 10.
The two joints are connected with the outside through a fixing ring at the top end to fix the position of the small-sized artificial muscle driven by high voltage electricity. The two joints are connected with the conical plug through the inner side threads, and simultaneously the conical sleeve is propped against the conical plug to increase the friction force between the conical sleeve and the conical plug, so that the woven mesh tube 2 is fixed. The elastic tube 1 is positioned in the woven mesh tube 2, and is fixed at two ends by the pressing nail a5 and the conical plug and the pressing nail b8 and the conical plug. When the high-voltage driven small artificial muscle works, a high-voltage power supply supplies power, a high-voltage electric arc is output from the high-voltage positive electrode 3 and the high-voltage negative electrode 4, liquid in the elastic tube 1 is vaporized, the elastic tube 1 begins to expand, and the flexible muscle body transversely begins to shrink due to the restraint of the woven mesh tube 2, so that axial tension is generated to the outside. This is the principle of operation of the high voltage driven small artificial muscle.
The high-voltage anode 3 is arranged at one end in the elastic tube 1, and the high-voltage cathode 4 is arranged at the other end in the elastic tube 1; the distance between the nearest ends of the high-voltage anode 3 and the high-voltage cathode 4 is 5mm to 15mm. . The high-voltage electric positive electrode 3 and the high-voltage electric negative electrode 4 are respectively insulated high-voltage wires with the length of 10 mm to 20 mm, and the diameter of the insulated high-voltage wires is 2 mm; at the end of the insulated high-voltage wire, a conductive cylindrical material with a length of 2mm to 3mm is exposed. The design ensures reliable transmission of electric energy and efficient transmission of high-voltage electric energy between the high-voltage wire and the conductive cylinder, thereby providing a stable foundation for stability and performance of the system.
The voltage working range of the high-voltage power supply is 40kV-100kV.
The liquid has conductivity and vaporization temperature not higher than 100 ℃. Such as water, sodium chloride solution or ethanol solution.
The elastic tube 1 is of a hollow cylinder structure, the inner diameter of the elastic tube is 2mm to 3mm, the outer diameter of the elastic tube is 1.5 to 2 times of the inner diameter, and the length of the elastic tube is 35mm to 45mm; the elastic tube 1 is made of a material which has high elasticity and still maintains original physical properties under a high-temperature environment. Such as any one of high-elasticity silicon rubber, high-temperature-resistant rubber and high-temperature-resistant elastic plastic of the elastic tube 1. .
The woven mesh tube 2 is of a parallelogram woven structure; the maximum inner diameter of the woven mesh tube 2 is 0.9-1 times of the outer diameter of the elastic tube 1; the woven mesh tube 2 is made of a material with scalability, flame retardance, wear resistance and high temperature resistance, such as any one of environment-friendly PET (polyethylene terephthalate) wires, cotton wires, nylon wires, PPS (polyphenylene sulfide), tinned copper wires, bare copper wires or stainless steel wires. The woven mesh tube 2 is a very tough mesh that is used to provide tension. The two ends of the woven mesh tube 2 are fixed by the conical surface between the conical plug and the conical sleeve.
The high-voltage anode 3 and the high-voltage cathode 4 are insulated high-voltage wires, and the insulating material meets the standards of voltage resistance characteristics not lower than 100kV, insulating strength meeting international standards, heat resistance not lower than 100 ℃ and other common high-voltage wires.
The end part of the insulated high-voltage wire is a bare conductive cylinder, and the conductive cylinder is made of a material which keeps the original characteristics and stably works under the impact of high-voltage electricity, such as conductive metal, conductive polymer composite material, conductive ceramic material or conductive textile material.
Further, the high voltage power positive electrode 3 is connected with a positive electrode of a high voltage power supply device.
Further, the high-voltage power cathode 4 is connected with a cathode of a high-voltage power supply device.
The elastic tube 1 may be completely closed by sealing or integrally formed. The sealing method can be a sealing method with stable sealing effect and no gas leakage, such as glue filling sealing, adhesive tape sealing, rubber gasket sealing and welding sealing.
The small artificial muscle driven by high voltage is a bag type artificial muscle driven by high voltage, on the fixation of the elastic tube 1 and the woven mesh tube 2, the elastic tube 1 is fixed by the cooperation of the double holes according to the nail and the grooves of the conical plug, and the woven mesh tube 2 is fixed by the conical plug and the conical surface of the conical sleeve 10. The elastic tube 1 is not fixed together with the woven mesh tube 2 but separately, and this fixation is suitable for such a small artificial muscle work. When the elastic tube 1 is expanded, under the restraint of the woven mesh tube 2, the flexible muscle starts to shrink axially, the shortening of the flexible muscle body reduces the force required for fixing the elastic tube 1, and the elastic tube 1 is prevented from falling out. The application has simple structural design, strong adaptability, low manufacturing cost, easy flow production and wide application prospect.
The implementation principle of the application is as follows: the application adopts high-voltage power supplied by high-voltage power supply to realize rapid vaporization of liquid, so that the sealed cavity is expanded to generate push-pull motion, and the device is similar to contraction and expansion of human muscle. This technique is capable of outputting a large force while being relatively small in volume itself. Compared with the traditional pneumatic artificial muscle technology, the hydraulic artificial muscle and the novel electric control telescopic composite artificial muscle, the small artificial muscle technology based on high-voltage electric drive has obvious advantages in the aspects of structural simplicity, manufacturing cost, volume, response time, energy consumption, driving efficiency and the like. The inside of the elastic tube 1 is provided with positive and negative two stages of high-voltage electricity, which are positioned at two ends of the elastic tube 1 so as to realize vaporization of liquid in the elastic tube 1; the elastic tube 1 is designed to be a completely sealed structure, so that internal gas and liquid are not leaked.
In example 1, an experiment was performed using a NaCl solution with a mass fraction of 0.9% and a voltage of 40KV was applied to both positive and negative stages of high voltage. In this arrangement, the elastic tube 1 successfully achieves expansion by vaporization of the liquid in the elastic tube 1 to a degree of 150% of the original volume. The entire expansion process takes 0.5 seconds.
In example 2, a NaCl solution with a mass fraction of 1.5% was used for the experiment, and a voltage of 40KV was applied to both positive and negative stages of the high voltage. In this arrangement, the elastic tube 1 successfully achieved expansion by vaporization of the liquid in the elastic tube 1 to an extent of 170% of the original volume. The entire expansion process took 0.3 seconds.
In example 3, an experiment was performed using a NaCl solution with a mass fraction of 0.9% and a voltage of 100KV was applied to both positive and negative stages of high voltage. In this arrangement, the elastic tube 1 successfully achieves expansion by vaporization of the liquid in the elastic tube 1 to a degree of 150% of the original volume. The entire expansion process takes 0.1 seconds.
The above experiment results show that under the condition of proper voltage, the elastic tube 1 can be expanded quickly and accurately by combining specific solution concentration, and different expansion degrees and expansion times can be provided by different solutions and applied voltages, and the above experiment provides powerful support for the application of the technology.
The traditional pneumatic artificial muscle technology has the advantages that the minimum size of the pneumatic artificial muscle technology depends on the size of an air cylinder due to the components such as an air duct, a compressor, a valve and a pump, the miniature pneumatic artificial muscle technology cannot be used for manufacturing miniature shapes due to the fact that the length of the pneumatic artificial muscle technology is about 5 cm to 10cm, the pneumatic artificial muscle technology is inflated through the air duct, the time required for filling is determined according to the inflation rate, and the method directly and sequentially breaks down liquid to realize vaporization, and the time is only required to be milliseconds;
the small artificial muscle driven by high-voltage electricity has light weight, small volume, simple and reliable structure and strong adaptability; when the device works, the air tube is not used for ventilation, so that the volume is reduced, the response time is shortened, and the working efficiency is improved; the manufacturing cost is low, and the flow operation is easy; the flexibility is good, the power-mass ratio is large, and the method can be widely applied to micro robots, micro medical appliances, micro fluid control, wearable equipment and education and research.
In particular, the high-voltage electric-driven small artificial muscle is focused on providing pulse force or explosive force, such as muscle group for lifting heavy objects, and the purpose of extracting heavy objects is achieved by effectively contracting the muscle after the liquid in the elastic tube 1 is vaporized.
Although the application has been described with reference to specific embodiments, those skilled in the art will appreciate that many modifications are possible in the construction and detail of the application disclosed within the spirit and scope thereof.
Claims (9)
1. The small artificial muscle driven by high voltage is characterized by comprising an elastic tube (1) and a woven net tube (2); the woven net tube (2) is sleeved outside the elastic tube (1), and two ends of the woven net tube are fixedly connected respectively; the elastic tube (1) is of a completely closed structure, and is filled with liquid; one end of the elastic tube (1) is internally provided with a high-voltage positive electrode (3), and the other end is internally provided with a high-voltage negative electrode (4); the high-voltage power supply anode (3) and the high-voltage power supply cathode (4) are respectively connected with a high-voltage power supply.
2. The miniature artificial muscle driven by high voltage according to claim 1, wherein the elastic tube (1) is a hollow cylinder structure with an inner diameter of 2mm to 3mm, an outer diameter of 1.5-2 times the inner diameter, and a length of 35mm to 45mm; the elastic tube (1) is made of a material which has high elasticity and still maintains the original physical properties in a high-temperature environment; the elastic tube material is any one of high-elasticity silicon rubber, high-temperature-resistant rubber and high-temperature-resistant elastic plastic.
3. The miniature artificial muscle driven by high voltage according to claim 1, wherein the woven mesh tube (2) is a parallelogram woven structure; the maximum inner diameter of the woven mesh tube (2) is 0.9-1 times of the outer diameter of the elastic tube (1); the woven mesh tube (2) is made of a material with scalability, flame retardance, wear resistance and high temperature resistance; the braiding net pipe material is any one of environment-friendly PET wires, cotton wires, nylon wires, PPS, tinned copper wires, bare copper wires or stainless steel wires.
4. The miniature artificial muscle driven by high voltage according to claim 1, wherein the high voltage positive electrode (3) and the high voltage negative electrode (4) are insulated high voltage wires, the insulating material meets the voltage resistance characteristic of not lower than 100kV, the insulating strength meets the international standard, and the heat resistance is not lower than 100 ℃.
5. The miniature artificial muscle driven by high voltage according to claim 1, wherein the high voltage positive electrode (3) is arranged at one end in the elastic tube (1), and the high voltage negative electrode (4) is arranged at the other end in the elastic tube (1); the distance between the nearest ends of the high-voltage positive electrode (3) and the high-voltage negative electrode (4) is 5mm to 15mm.
6. The miniature artificial muscle driven by high voltage according to claim 1, wherein said liquid has conductivity and vaporization temperature not higher than 100 ℃.
7. The miniature artificial muscle driven by high voltage electricity according to claim 6, wherein the liquid is any one of water, sodium chloride solution or ethanol solution.
8. A method of driving a small artificial muscle using high voltage electric driving, characterized in that it is realized based on the small artificial muscle according to any one of claims 1-6; when the small artificial muscle acts, high voltage is respectively applied to the two ends of the elastic tube (1), and liquid is vaporized by high voltage discharge in the elastic tube (1), so that the elastic tube (1) is expanded, and the woven mesh tube (2) is contracted to act.
9. The method for driving small artificial muscles using high voltage electric driving according to claim 8, wherein the voltage working range of the high voltage power source is 40kV-100kV.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311065203.4A CN117001651B (en) | 2023-08-23 | 2023-08-23 | Small artificial muscle driven by high-voltage electricity and driving method thereof |
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| CN202311065203.4A CN117001651B (en) | 2023-08-23 | 2023-08-23 | Small artificial muscle driven by high-voltage electricity and driving method thereof |
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| CN117001651A true CN117001651A (en) | 2023-11-07 |
| CN117001651B CN117001651B (en) | 2024-03-29 |
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