CN117944280A - Graphical wiring method of artificial muscle - Google Patents
Graphical wiring method of artificial muscle Download PDFInfo
- Publication number
- CN117944280A CN117944280A CN202410122287.9A CN202410122287A CN117944280A CN 117944280 A CN117944280 A CN 117944280A CN 202410122287 A CN202410122287 A CN 202410122287A CN 117944280 A CN117944280 A CN 117944280A
- Authority
- CN
- China
- Prior art keywords
- tcp
- sewing
- artificial muscle
- substrate
- flexible actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000000758 substrate Substances 0.000 claims abstract description 35
- 229920001721 polyimide Polymers 0.000 claims abstract description 31
- 238000009958 sewing Methods 0.000 claims abstract description 29
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 28
- 238000005520 cutting process Methods 0.000 claims abstract description 11
- 229920000742 Cotton Polymers 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims abstract description 6
- 238000000137 annealing Methods 0.000 claims abstract description 4
- 238000007493 shaping process Methods 0.000 claims abstract description 4
- 238000010438 heat treatment Methods 0.000 claims abstract description 3
- 238000004080 punching Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 description 21
- 241000258957 Asteroidea Species 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 230000003592 biomimetic effect Effects 0.000 description 5
- 238000003698 laser cutting Methods 0.000 description 4
- 239000004642 Polyimide Substances 0.000 description 3
- 241000270295 Serpentes Species 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000059 patterning Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 244000241796 Christia obcordata Species 0.000 description 1
- 244000018716 Impatiens biflora Species 0.000 description 1
- 235000015912 Impatiens biflora Nutrition 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 244000215777 Plumeria rubra Species 0.000 description 1
- 235000013087 Plumeria rubra Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Abstract
The invention discloses a patterned wiring method of artificial muscles, which is used for combining TCP artificial muscles and polyimide films through a sewing method to form a bionic flexible actuator driven by the artificial muscles, and comprises the following steps of: cutting the polyimide film to obtain a substrate of the bionic flexible actuator; winding the TCP artificial muscle subjected to the thermal annealing shaping treatment on a spool; using TCP artificial muscles on a spool as a base thread and cotton threads as upper threads, and sewing the TCP artificial muscles on a substrate according to a preset pattern by using the upper threads to form a bionic flexible actuator; and electrifying and heating the TCP artificial muscle, wherein the TCP artificial muscle can shrink along the line arrangement direction, so that the substrate is bent and deformed to realize the actuation performance of the bionic flexible actuator. According to the graphical wiring method, the artificial muscles are assembled and integrated into the graphical heat-resistant film in a sewing mode, so that the driving and functional application of various types of soft robots are realized.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a graphical wiring method of artificial muscles.
Background
The TCP artificial muscle (TWISTED AND Coiled Polymer Artificial Muscle) is a linear actuator which generates contraction strain to generate force and outputs mechanical work under the condition of electrified stimulation so as to imitate the functions of biological muscles and achieve the performance of the biological muscles, can be used for driving various bionic soft robots, and has wide application prospect.
However, in the field of soft robots, there is no case in which TCP artificial muscles are assembled and integrated into a patterned heat-resistant film through wiring to realize driving and functional application of various types of soft robots.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a graphical wiring method of artificial muscles, which integrates the artificial muscles into a graphical heat-resistant film in a sewing mode, so as to realize the driving and functional application of various types of soft robots.
The invention adopts the following specific technical scheme:
The patterned wiring method of artificial muscle is used for combining TCP artificial muscle and Polyimide (PI) film by sewing method to form artificial muscle driven bionic flexible actuator, and specifically comprises the following steps:
Step one, cutting a polyimide film to obtain a substrate of a bionic flexible actuator;
step two, winding the TCP artificial muscle subjected to the thermal annealing shaping treatment on a spool;
Thirdly, sewing the TCP artificial muscle on the spool on the substrate according to a preset pattern by using the TCP artificial muscle on the spool as a base thread and the cotton thread as an upper thread to form a bionic flexible actuator similar to bimorph structure;
And step four, electrifying and heating TCP artificial muscles, wherein the TCP artificial muscles shrink along the line arrangement direction, so that the substrate is bent and deformed to realize the actuation performance of the bionic flexible actuator.
Still further, before sewing, further comprising:
Punching holes are formed in the substrate according to a preset pattern, a plurality of small Kong Yici are arranged at intervals to form the preset pattern, and a sewing needle drives an upper thread to fix a bottom thread through the small holes in sequence during sewing.
Further, the substrate is perforated by laser dotting.
Further, in step one, the polyimide film is cut using a numerical control laser cutter.
Still further, the path of the predetermined pattern is constituted by a straight line and/or a curved line.
The beneficial effects are that:
According to the graphical wiring method, the TCP artificial muscles and the polyimide film are combined through a sewing method to form the bionic flexible actuator driven by the artificial muscles, the polyimide film is subjected to graphical design by utilizing the TCP artificial muscles, the substrate of the bionic flexible actuator is obtained through cutting the polyimide film, the pattern required by the bionic flexible actuator is obtained through cutting, the TCP artificial muscles are used as a bottom line, the arrangement of the TCP artificial muscles on the substrate is changed through a sewing mode, and the actuation effect of the bionic flexible actuator is achieved.
Drawings
FIG. 1 is a flow chart of a method of patterning wiring of the present invention;
FIG. 2 is a diagram of a bionic soft robot simulating butterfly wing-flapping action;
FIG. 3 is a biomimetic soft robot that mimics the blooming action of flowers;
FIG. 4 is a biomimetic soft robot simulating the contraction and blooming actions of the spiral petals of a flower;
FIG. 5 is a diagram of a biomimetic soft robot that mimics the winding action of a spiral vine;
FIG. 6 is a biomimetic soft robot that mimics the action of a snake bow;
Fig. 7 is a biomimetic soft robot that mimics the predation action of a starfish.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment provides a patterned wiring method of artificial muscles, which is used for combining TCP artificial muscles and polyimide films through a sewing method to form a bionic flexible actuator driven by the artificial muscles, as shown in fig. 1, and specifically comprises the following steps:
Step one, cutting a polyimide film to obtain a substrate of a bionic flexible actuator, wherein a numerical control laser cutting machine can be used for cutting when the polyimide film is cut;
step two, winding the TCP artificial muscle subjected to the thermal annealing shaping treatment on a spool;
Thirdly, sewing the TCP artificial muscle on the spool on the substrate according to a preset pattern by using the TCP artificial muscle on the spool as a base thread and the cotton thread as an upper thread to form a bionic flexible actuator similar to bimorph structure; the predetermined pattern is determined according to specific requirements, the path of the predetermined pattern can be formed by straight lines, or curves, or both the straight lines and the curves, and the predetermined pattern can also comprise folding lines formed by a plurality of straight lines; the upper thread is common cotton thread; fixing TCP artificial muscle on a substrate obtained by cutting a polyimide film according to a preset path through upper threads; when TCP artificial muscles are unevenly distributed in all directions, anisotropic factors are introduced into the bionic flexible actuator;
Step four, electrifying TCP artificial muscles to heat, wherein the TCP artificial muscles shrink along the line arrangement direction, so that the substrate is bent and deformed to realize the actuation performance of the bionic flexible actuator; when the TCP artificial muscle contracts along the line arrangement direction, the thermal expansion of the two sides of the polyimide film is inconsistent, so that the polyimide film is bent and deformed, and the designed action is displayed.
Before sewing, in order to ensure the sewing effect, the patterned wiring method further comprises a punching process, namely: punching holes are formed in the substrate according to a preset pattern, a plurality of small Kong Yici are arranged at intervals to form the preset pattern, and a sewing needle drives an upper thread to fix a bottom thread through the small holes in sequence during sewing. And punching holes on the substrate by adopting a laser dotting mode.
According to the graphical wiring method, the TCP artificial muscles and the polyimide film are combined through the sewing method to form the bionic flexible actuator driven by the artificial muscles, the polyimide film is subjected to graphical design by utilizing the TCP artificial muscles, the substrate of the bionic flexible actuator is obtained through cutting the polyimide film, the pattern required by the bionic flexible actuator is obtained through cutting, the TCP artificial muscles are used as the bottom line, the arrangement of the TCP artificial muscles on the substrate is changed through the sewing mode, and the actuation effect of the bionic flexible actuator is achieved.
FIG. 2 is a diagram of a butterfly soft robot made by the patterned wiring method for simulating butterfly wing-flapping; the substrate is in a butterfly shape and comprises two wings which are symmetrically arranged; butterfly wing vibration action is mainly bending, so that TCP artificial muscles arrayed in an arc shape are sewn on a butterfly-shaped substrate, when the TCP artificial muscles are electrified and heated, the muscles shrink in the array direction to drive the substrate formed by cutting a polyimide film, and the substrate is symmetrically bent. The right side view in fig. 2 is a schematic diagram of the action process. During preparation, the polyimide film is firstly processed into a butterfly shape through laser cutting, and then TCP artificial muscle made of 210D multiplied by 3 nylon wires is sewn along a U-shaped path in the middle of the butterfly soft robot to be used as an actuator for driving wings of the butterfly soft robot. Under the stimulation of pulse current, the artificial muscle alternately contracts and relaxes, and the butterfly soft robot beats the wings up and down like a real butterfly. The TCP artificial muscle can shrink and drive the wings of the butterfly to fan upwards only for 1s, and the wings need to be restored to the original state for 5-7 s.
Fig. 3 is a clover-shaped soft robot manufactured by the graphical wiring method, which is used for simulating the blooming action of flowers, and is composed of 3 petals uniformly distributed along the circumferential direction, wherein the blooming action of the flowers is mainly bending, a circle of arc-shaped distributed TCP artificial muscles parallel to the outer contours of the petals are sewn on the back surfaces of the petals, when the TCP artificial muscles are electrified, the TCP artificial muscles shrink in 2s, three petals are driven to bend downwards for more than 90 degrees, so that the flowers are in a blooming state, and after the current is turned off, the petals gradually recover to an initial state within 15 s. The right side view in fig. 3 shows a schematic diagram of the process of blooming flowers.
Fig. 4 is a schematic diagram of a soft robot for simulating the contraction and blooming actions of flowers, which is manufactured by the graphical wiring method, and is used for simulating the blooming process of plumeria rubra, the flowers comprise 5 spiral petals which are uniformly distributed along the circumferential direction, the actions of the spiral petals are spiral bending, TCP artificial muscles are obliquely sewn on the spiral petals, the TCP artificial muscles are sewn along a complex folding line path, and the TCP artificial muscles are contracted along the arrangement direction when being electrified and heated, so that the principle of vector superposition is met. The right side of figure 4 shows the action process of petals, wherein the TCP artificial muscle is electrified, five spiral petals are bent inwards, and the spiral petals gradually shrink into buds; after the current is turned off, the petals are gradually spread out like the impatiens balsamina.
FIG. 5 shows a flexible actuator imitating spiral winding action of orchid vines, which is manufactured by the graphical wiring method, wherein TCP artificial muscles which are obliquely arranged are sewn on a strip-shaped substrate, so that the bionic flexible actuator realizes spiral actuation in different directions; by changing the sewing path and the wiring direction of the TCP artificial muscle, the driving mode of the flexible actuator can be effectively adjusted. The TCP artificial muscle was diagonally stitched to the elongated substrate at an angle of 45 DEG or-45 DEG with respect to the longitudinal direction of the elongated substrate. The upper right hand flexible actuator of fig. 5 exhibits a right hand spiral crimp, while the lower right hand flexible actuator of fig. 5 exhibits a left hand spiral crimp. Due to the diagonal of the TCP artificial muscle, the two strip-like actuators exhibit a programmable screw actuation, which can be used as drivers for the screw deformation.
Fig. 6 shows a flexible actuator imitating snake bow motions, which is manufactured by the graphical wiring method, wherein TCP artificial muscles are sewn at different areas of the front surface and the rear surface of a strip-shaped substrate respectively, so that the flexible actuator presents bending deformation with positive and negative curvatures, four sections of TCP artificial muscles are alternately wired on the front surface and the rear surface of the substrate, and the four sections of TCP artificial muscles are connected end to form a series circuit. When stimulated by an electric current, the strip-shaped actuator can bend in two directions, assuming a curved profile. The S-shaped bending action of the snake can be simulated by energizing the TCP artificial muscle.
Fig. 7 shows a starfish robot simulating starfish predation by the patterned wiring method, wherein the starfish robot is provided with five tentacles, a substrate in the shape of a starfish is cut by a CNC laser cutting machine, and TCP artificial muscles are sewn and connected in series on each tentacle, so that the starfish can bend at the tentacles. When the starfish robot is used as an end effector, grabbing action can be executed, and grabbing function is achieved. Under the drive of TCP artificial muscle, five tentacles of the starfish robot bend inwards when receiving current stimulus, grasp a bigger object and lift it, after moving the object to another place, starfish robot opens the tentacle, has released the object. The whole action process of the starfish robot is precisely controlled by current, and the predation action of the real starfish is perfectly simulated.
The above demonstration illustrates the advantages of ultra-long TCP artificial muscles in practical applications.
The patterning wiring method adopts the heat-resistant polyimide flexible film as a substrate, and ultra-long TCP artificial muscles are integrated on the substrate in a pattern wiring mode. Firstly, designing and processing a polyimide film into various pattern shapes by using a laser cutting machine; drilling a series of small holes with proper intervals on the polyimide film by using laser dotting so as to guide the connection of TCP artificial muscles; then, with the aid of a sewing machine, an extra long TCP artificial muscle was sewn to the polyimide film. The TCP artificial muscle wound on the spool is used as a thread axis, and the normal cotton thread passing through the sewing needle is used as a top thread. The artificial muscle may be wired in a straight line or in a path with an irregular curve or a complex broken line.
Each time the sewing needle passes through the guide hole, the cotton thread and the coiled artificial muscle (spinning thread) are interlocked, and one sewing action is completed. By repeating this action, the ultra-long TCP artificial muscle can be graphically stitched and assembled to the polyimide film. The TCP artificial muscle is routed along a U-shaped path on a polyimide film strip. Since the artificial muscles are sewn on one side of the polyimide film, they form a double layer structure. Thus, when the muscle is stimulated and contracted, the polyimide film is bent to one side of the muscle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The patterned wiring method of the artificial muscle is characterized in that the method is used for combining the TCP artificial muscle and a polyimide film through a sewing method to form an artificial muscle-driven bionic flexible actuator, and specifically comprises the following steps of:
Step one, cutting a polyimide film to obtain a substrate of a bionic flexible actuator;
step two, winding the TCP artificial muscle subjected to the thermal annealing shaping treatment on a spool;
Thirdly, sewing the TCP artificial muscle on the spool on the substrate according to a preset pattern by using the TCP artificial muscle on the spool as a base thread and the cotton thread as an upper thread to form a bionic flexible actuator similar to bimorph structure;
And step four, electrifying and heating TCP artificial muscles, wherein the TCP artificial muscles shrink along the line arrangement direction, so that the substrate is bent and deformed to realize the actuation performance of the bionic flexible actuator.
2. The patterned routing method of claim 1, further comprising, prior to sewing:
Punching holes are formed in the substrate according to a preset pattern, a plurality of small Kong Yici are arranged at intervals to form the preset pattern, and a sewing needle drives an upper thread to fix a bottom thread through the small holes in sequence during sewing.
3. The patterned routing method of claim 2, wherein the substrate is perforated by laser dotting.
4. The patterned wiring method of claim 1, wherein in the first step, the polyimide film is cut using a numerical control laser cutter.
5. A patterned wiring method according to any one of claims 1 to 4, wherein the path of the predetermined pattern is constituted by a straight line and/or a curved line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410122287.9A CN117944280A (en) | 2024-01-29 | 2024-01-29 | Graphical wiring method of artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410122287.9A CN117944280A (en) | 2024-01-29 | 2024-01-29 | Graphical wiring method of artificial muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117944280A true CN117944280A (en) | 2024-04-30 |
Family
ID=90791886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410122287.9A Pending CN117944280A (en) | 2024-01-29 | 2024-01-29 | Graphical wiring method of artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117944280A (en) |
-
2024
- 2024-01-29 CN CN202410122287.9A patent/CN117944280A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1076774B1 (en) | Thin-film shape memory alloy actuators and processing methods | |
| Menciassi et al. | A SMA actuated artificial earthworm | |
| KR101096321B1 (en) | inchiworm robot | |
| EP2054005B1 (en) | Pressure actuator | |
| US20150343649A1 (en) | Tentacle mechanism | |
| Calisti et al. | Study and fabrication of bioinspired octopus arm mockups tested on a multipurpose platform | |
| JP5640160B2 (en) | Robot tongue module | |
| WO2019005960A1 (en) | Shape memory actuator structures and control thereof | |
| CN110507416B (en) | Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof | |
| CN109952175B (en) | Robot joint driving device using wire, endoscope robot device and medical robot device including the same | |
| CN111093909A (en) | Mechanical arm | |
| CN117944280A (en) | Graphical wiring method of artificial muscle | |
| TWI736467B (en) | Robotic palm and finger device thereof | |
| US20070037445A1 (en) | Tubular compliant shape memory alloy actuators | |
| Yekutieli et al. | How to move with no rigid skeleton? | |
| US8662764B2 (en) | Camera positioning mechanism using an antagonistic pair of compliant contractile actuators | |
| JP2000262464A (en) | Multi-directional bending mechanism, and head oscillating structural body | |
| JP2009194982A (en) | Movable tensegrity structure equipped with electrode structure | |
| JP4960320B2 (en) | Actuator | |
| KR20220117943A (en) | Driving system based on thermal actuator and robot joint using the driving system and robot hand using the driving system | |
| JPH039780A (en) | Human body-shaped robot | |
| JP7372928B2 (en) | Programmable medical wire system and method | |
| JP7253761B2 (en) | Active bodies and movement aids | |
| Cepolina et al. | A family of co‐robotic surgical set‐ups | |
| CN113977593B (en) | Driving mechanism for robot frogman, humanoid mechanical arm and stepless bending and twisting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |