WO2023070805A1 - 基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉 - Google Patents

基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉 Download PDF

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WO2023070805A1
WO2023070805A1 PCT/CN2021/133465 CN2021133465W WO2023070805A1 WO 2023070805 A1 WO2023070805 A1 WO 2023070805A1 CN 2021133465 W CN2021133465 W CN 2021133465W WO 2023070805 A1 WO2023070805 A1 WO 2023070805A1
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artificial muscle
pneumatic artificial
braided tube
wound
air pressure
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PCT/CN2021/133465
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English (en)
French (fr)
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胡兴好
王健
丁建宁
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江苏大学
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Priority to GB2306273.0A priority Critical patent/GB2614512A/en
Publication of WO2023070805A1 publication Critical patent/WO2023070805A1/zh

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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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the invention relates to the technical field of linear drive of soft robots, in particular to a bidirectional linear fast-response spiral-wound pneumatic artificial muscle based on a braided tube.
  • the materials for artificial muscle actuators mainly include shape memory alloy (SMA), dielectric elastomer (DEA), ionic polymer-metal composite (IPMC), carbon nanotubes and graphene fibers, and semi-crystalline polymer materials.
  • SMA shape memory alloy
  • DEA dielectric elastomer
  • IPMC ionic polymer-metal composite
  • carbon nanotubes and graphene fibers and semi-crystalline polymer materials.
  • Its drive methods include thermal drive, electric drive, optical drive, fluid drive, etc., wherein fluid drive (such as pneumatic, hydraulic, etc.) utilizes the uneven deformation of the material when it is inflated to achieve the drive.
  • fluid drive such as pneumatic, hydraulic, etc.
  • gas drive can also be realized by designing origami structures. , but it also has shortcomings such as slow response speed and only one-way drive.
  • the present invention proposes a bidirectional, linear, fast-response helically wound pneumatic artificial muscle based on a braided tube.
  • the artificial muscle not only has the characteristics of large load and high output energy density of traditional pneumatic artificial muscles, but also has excellent performances such as large contraction rate, bidirectional drive and high frequency response.
  • a bidirectional linear fast-response helically wound pneumatic artificial muscle based on a braided tube comprising: a heat-set braided tube, a tubular elastic air cavity, and the heat-set braided tube covers the surface of the tubular elastic air cavity.
  • the tubular elastic air cavity expands radially after being inflated to provide radial driving force for the heat-set braided tube.
  • the heat-set braided tube has expansion anisotropy, and the diameter becomes larger and the length becomes smaller when it expands.
  • the pneumatic artificial muscle is covered with a braided tube on the surface of the tubular elastic air cavity, and then the tubular elastic air cavity is wound on the mandrel and heated to form a heat-set braided tube, and the mandrel is removed to obtain a spiral-wound pneumatic artificial muscle.
  • the helix angle of the heat-set braided tube increases as the air pressure of the tubular elastic cavity increases.
  • the helix angle is the acute angle ( ⁇ ) formed between the braided wires after heat setting.
  • the stiffness and elastic coefficient of the pneumatic artificial muscle increase with the increase of the input air pressure. Therefore, after the pneumatic artificial muscle is stretched and deformed, it will generate a restoring force that makes the artificial muscle tend to return to its original length. Specifically, when the pneumatic artificial muscle is in a stretched state, its helix angle increases with the increase of air pressure, and then the pneumatic artificial muscle contracts; when the pneumatic artificial muscle is in a compressed state, its helix angle increases with the increase of air pressure. decreases, thereby elongating the pneumatic artificial muscle.
  • the pneumatic artificial muscle can be extended and contracted, so it can output bidirectional force and displacement.
  • the maximum deformation of its elongation and contraction is determined by the pitch (l) of the helical structure of the pneumatic artificial muscle without any load.
  • the pitch is the distance moved in the axial direction when any point in the helical structure rotates once.
  • the pitch is the distance moved in the axial direction when any point in the helical structure rotates once.
  • the spring index of the pneumatic artificial muscle is 5.
  • the tubular elastic air cavity has an outer diameter of 2.8 mm and a wall thickness of 0.9 mm, and its material is PS6600 series No. 5 silica gel.
  • the braided tube is a telescopic braided hose, the ratio of the initial diameter to the maximum diameter after axial compression is 1:3.
  • the initial inner diameter of the braided tube is equal to the outer diameter of the tubular elastic air cavity, so that the braided tube can wrap the tubular elastic air cavity.
  • the braided tube is made of nylon 66.
  • the restriction mechanism at the end of the pneumatic artificial muscle is used to prevent the pneumatic artificial muscle from rotating due to inflation.
  • the pneumatic artificial muscle uses a pneumatic pump as a power source, and the appropriate input air pressure is selected according to the inner and outer diameters of the tubular elastic air cavity and the diameter of the heat-set braided tube.
  • the pneumatic artificial muscle can output linear displacement.
  • the maximum contraction rate of the pneumatic artificial muscle can reach 54%, and the maximum contraction rate can reach 44% under the input of 5Hz high-frequency on-off air pressure.
  • the input air pressure required for the pneumatic artificial muscle to achieve the maximum contraction or maximum elongation ranges from 0.07MPa to 0.1MPa.
  • pneumatic artificial muscles have the advantages of quietness, high degree of freedom, high power/mass ratio and high power/volume ratio.
  • pneumatic artificial muscles still have many limitations, such as slow response speed, high working air pressure, poor high-frequency drive effect, and only one-way drive.
  • pneumatic artificial muscles have strong nonlinear time-varying characteristics, making it difficult to achieve precise control.
  • the invention realizes the output of force and displacement by utilizing the characteristic that the mechanical properties of the helical braided pipe are affected by its own expansion. Since the direction of the applied load will affect the direction of the expansion of the braided tube, when the direction of the applied load is different, the directions of the output force and displacement are also different, so that bidirectional driving can be realized.
  • the air cavity volume of the pneumatic artificial muscle in the present invention is smaller, and the inflation and deflation speed is faster. While maintaining the high power/mass ratio of previous pneumatic artificial muscles, the pneumatic artificial muscle reduces the driving air pressure and improves the contraction rate and response speed.
  • the stress-strain diagram of the pneumatic artificial muscle shows a linear relationship. Therefore, under constant load conditions, precise control of the output displacement can be achieved by controlling the air pressure. In the case of constant displacement, the output force can be precisely controlled by controlling the air pressure.
  • the manufacturing process of the pneumatic artificial muscle in the present invention is simple and low in cost, and has wide application prospects in many fields such as industrial automation, mobile robots, exoskeleton robots, medical rehabilitation, and remote control.
  • Fig. 1 is the schematic diagram of the application example of the present invention (only output unidirectional tension type helically wound type pneumatic artificial muscle);
  • Fig. 2 is the two-way drive schematic diagram of pneumatic artificial muscle in the present invention
  • Fig. 3 is the mold that is used to prepare tubular elastic cavity in the specific example of the present invention.
  • Fig. 4 is a schematic diagram of winding when the pneumatic artificial muscle part in Fig. 1 is heat-set;
  • Fig. 5 is a stress-strain relationship diagram of the pneumatic artificial muscle in Fig. 1 under different input air pressure conditions.
  • Fig. 6 is a test chart of the contraction rate of the pneumatic artificial muscle in Fig. 1 under the input air pressure of 5 Hz and 0.1 MPa under a load of 20 g.
  • the artificial muscle is composed of a tubular elastic cavity and a braided tube wrapped around it, and then the helical coil is formed by winding the mandrel and heat setting Winding structure.
  • Artificial muscle testing components also include air tubes, air gauges, air pressure valves, rotation limiting mechanisms, etc.
  • the trachea is the input channel for the air pressure required by the pneumatic artificial muscle.
  • the main body of the pneumatic artificial muscle which is composed of a tubular elastic air cavity and a helical heat-set braided tube wrapped around it, contracts when the input air pressure increases, and outputs a linear displacement.
  • the aforementioned tubular elastic cavity is made by injecting PS6600 series No. 5 silica gel into a specific mold, and the process is shown in Figure 2.
  • the length of the upper and lower cuboids forming the mold is 300mm, and each has a semicircular through groove with a diameter of 2.8mm. After the two cuboids are fitted together, the two semi-circular grooves form a through hole with a diameter of 2.8mm; the diameter of the middle mandrel is 1mm, and the two ends of the mandrel are respectively fixed by circular tubes with an inner diameter of 1mm, an outer diameter of 2.8mm, and a length of 10mm. Make sure that the mandrel is coaxial with the through hole; after that, put the prepared No.
  • the manufacturing method of the artificial muscle body composed of the aforementioned tubular elastic air cavity and the helical heat-setting braided tube wrapped around it is as follows:
  • the aforementioned artificial muscle rotation limiting mechanism is shown in FIG. 1 .
  • the sealed end of the artificial muscle is connected to the load by two parallel thin rods, and the two parallel thin rods pass through a fixed plate with two pairs of through holes, so as to limit the rotation of the artificial muscle tail after inputting air pressure.
  • Fig. 4 is the tensile test curve of the pneumatic muscle in this example under different air pressures.
  • the elastic coefficient of the artificial muscle is approximately constant in the range of tensile strain of 10%-110%.
  • the elastic coefficient of the artificial muscle increases as the input air pressure increases. It can be seen from Figure 4 that when the muscle load is known, the output displacement can be precisely controlled by changing the input air pressure; when the length of the artificial muscle is fixed within the range of 10%-110%, the output stress can be precisely controlled by changing the input air pressure.
  • the contraction of the pneumatic artificial muscle in this example increases with the increase of the input air pressure. For example, under a load of 20g, the contraction can reach the maximum value of 54% when the input air pressure is greater than 0.1MPa. When the air pressure is input with a 5Hz square wave, the maximum contraction of the artificial muscle can still exceed 40%, as shown in Figure 5.
  • the pneumatic artificial muscle in the present invention can be stretched and contracted, that is, it can output bidirectional force and displacement. Its maximum elongation and maximum contraction are determined by the pitch of the helical structure of the artificial muscle. When the pitch decreases, the maximum shrinkage increases and the maximum elongation decreases; when the pitch increases, the maximum shrinkage decreases and the maximum elongation increases. Therefore, the requirement for the amount of elongation or contraction in practical applications can be met by adjusting the pitch of the muscle.
  • the present invention has the following advantages compared with the previous pneumatic artificial muscles: high output power density; small driving air pressure, large shrinkage rate, bidirectional drive and excellent high-frequency performance; the relationship between output force and displacement is linear, which is easier to establish The mathematical model realizes precise control; in addition, the pneumatic artificial muscle in the present invention is cheap in cost and simple in process. Therefore, the pneumatic artificial muscle has broad application prospects in various fields such as industrial automation, mobile robots, exoskeleton robots, medical rehabilitation, and remote control.

Abstract

本发明涉及软体机器人的线性驱动技术领域，具体涉及基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉。本发明利用螺旋状编织管的力学性能随内部膨胀而改变的特性来实现力与位移的输出。由于施加负载方向会影响编织管膨胀的方向，因此当负载方向不同时，输出力与位移的方向也不同，从而实现双向驱动。相比于其他气动人工肌肉，本发明中的气动人工肌肉气腔容积更小，充放气速度更快，该气动人工肌肉在保持以往气动人工肌肉高质量比与功率比的同时，降低了驱动气压，提升了收缩率，并具有快响应速度。

Description

基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉 技术领域
本发明涉及软体机器人的线性驱动技术领域，具体涉及基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉。
背景技术
随着近几年智能材料的快速发展，基于智能材料的柔性驱动器已成为当前研究热点。人工肌肉作为一种典型的柔性驱动器，可在外界激励条件下(如电、光、热、磁、湿度以及电化学等)产生可逆的收缩、旋转、弯曲以及它们的组合运动，并输出类似于生物肌肉的动力。与传统的刚性驱动器相比，人工肌肉具有无限多自由度、输出能量密度高、柔顺性好、良好的生物相容性等优点，在医疗、工业、救援等领域具有重要应用前景。
目前人工肌肉驱动器的制作材料主要包括形状记忆合金(SMA),介电弹性体(DEA)，离子聚合物-金属复合材料(IPMC)，碳纳米管和石墨烯纤维以及半结晶聚合物材料等。其驱动方式包括热驱动、电驱动、光驱动、流体驱动等，其中流体驱动(如气动、液压等)利用材料在充气时的不均匀变形来实现驱动。例如，通过结构设计使得气腔具有膨胀各向异性，进而充气可产生轴向收缩，然而这种驱动方式产生的收缩量不大，响应速度慢；另外还可以通过设计折纸结构等方式实现气体驱动，但其同样存在响应速度慢、只能单向驱动等不足。
发明内容
鉴于此，本发明提出一种基于编织管的双向、线性、快响应螺旋卷绕式气动人工肌肉。该人工肌肉不仅具有传统气动人工肌肉的大负载、高输出能量密度的特性，而且还具备收缩率大、可双向驱动和高频响应等优异性能。
为了实现上述目的，本发明采取的技术方案如下：
一种基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，包括：热定型编织管，管状弹性气腔，所述热定型编织管覆盖在管状弹性气腔表面。
其中：
所述管状弹性气腔在内部充气后发生径向膨胀，为所述热定型编织管提供径向驱动力。
所述热定型编织管具有膨胀各向异性，当其膨胀时直径变大、长度变小。
所述气动人工肌肉由编织管覆盖在管状弹性气腔表面，然后将管状弹性气腔卷绕在芯轴上并加热定型形成热定型编织管，去掉芯轴得到螺旋卷绕型气动人工肌肉。
所述热定型编织管的螺旋角随管状弹性腔体的气压增大而增大。螺旋角为热定型后的编织线之间相互形成的锐角(α)。
所述气动人工肌肉的刚度和弹性系数随输入气压增大而增大，因此气动人工肌肉在发生伸缩形变后，会产生使人工肌肉趋于恢复原长的回复力。具体而言，当所述气动人工肌肉处于拉伸状态时，其螺旋角随气压增大而增大，进而气动人工肌肉收缩；当气动人工肌肉处于压缩状态时，其螺旋角随气压增大而减小，从而气动人工肌肉伸长。
所述气动人工肌肉既可伸长，也可收缩，因此能够输出双向力与位移。其伸长与收缩的最大形变量决定于无任何负载下气动人工肌肉螺旋结构的螺距(l)。其中，螺距为螺旋结构中任意一点回转运动一周时沿轴向移动的距离。具体地，在无任何负载下，气动人工肌肉的螺距越小，则其能够产生的最大收缩量越大，最大伸长量变小；反之，若其螺距增大则最大收缩量减小，最大伸长量增大。
所述气动人工肌肉螺旋结构的直经(D)与热定型编织管的直径(d)之比为气动人工肌肉的弹簧指数C，即C＝D/d。
优选地，所述气动人工肌肉的弹簧指数为5。
优选地，所述管状弹性气腔采用2.8mm外径与0.9mm壁厚，其材料采用PS6600系列5号硅胶。
优选地，所述编织管为伸缩式编织软管，其初始直径与轴向压缩后的最大直径比为1:3。编织管的初始内径等于管状弹性气腔外径，使得编织管能够包覆管状弹性气腔。所述编织管的制作材料为尼龙66。
优选地，气动人工肌肉末端处的限制机构，用以阻止气动人工肌肉因充气而发生旋转。
所述气动人工肌肉使用气压泵作为动力源，根据管状弹性气腔内外径与热定型编织管直径大小来选择合适的输入气压，当输入气压大于0.04MPa时，气动人工肌肉即可输出线性位移。实测中气动人工肌肉的最大收缩率可达54％，并且 在输入5Hz高频通断气压下的最大收缩率达到44％。对于不同负载，气动人工肌肉达到最大收缩率或最大伸长率所需的输入气压的范围为0.07MPa～0.1MPa。
本发明优异的效果是：
传统的液压驱动、电机驱动都存在噪声大、功率密度低等不足。相比于液压、电机驱动，气动人工肌肉具有静音、自由度高、高功率/质量比和高功率/体积比等优点。然而，气动人工肌肉仍存在诸多局限性，如响应速度慢、工作气压高、高频驱动效果差、只能单向驱动等。另外，气动人工肌肉具有强非线性时变特征，难以实现精准控制。
本发明利用螺旋状编织管的力学性能受自身膨胀影响的特性来实现力与位移的输出。由于施加负载的方向会影响编织管膨胀的方向，因此当施加负载方向不同时，输出力与位移的方向也不同，从而可实现双向驱动。相比于其他气动人工肌肉，本发明中的气动人工肌肉气腔容积更小，充放气速度更快。该气动人工肌肉在保持以往气动人工肌肉高功率/质量比的同时，降低了驱动气压，提升了收缩率和响应速度。
此外，当输入气压恒定时，所述气动人工肌肉的应力-应变图呈线性关系。因此，在恒定负载条件下，可以通过控制气压来实现输出位移的精确控制。在恒定位移情况下，可以通过控制气压来精确控制输出力的大小。
本发明中的气动人工肌肉的制作工艺简单、成本低廉，在工业自动化、移动机器人、外骨骼机器人、医疗康复、远程控制等多个领域具有广泛应用前景。
附图说明
图1是本发明应用实例(仅输出单向拉力型螺旋卷绕式气动人工肌肉)的示意图；
图2是本发明中气动人工肌肉的双向驱动示意图；
图3是本发明具体实例中用于制备管状弹性腔体的模具；
图4是图1中的气动人工肌肉部分热定型时的卷绕示意图；
其中：1.芯轴；2.管状弹性气腔；3.热定型编织管。
图5是图1中气动人工肌肉在不同输入气压条件下的应力-应变关系图。
图6是图1中的气动人工肌肉在5Hz、0.1MPa的输入气压下，负载20g的收缩率测试图。
具体实施方式
为充分了解本发明的目的、特征及功能，借由下述具体的实施方式，对本发明做详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。
以输出单向拉力的螺旋卷绕式人工肌肉为例(如图1所示)，该人工肌肉由管状弹性腔体与其外包裹着的编织管组成，之后通过缠绕芯轴、热定型形成螺旋卷绕型结构。人工肌肉测试部件还包括气管、气压计、气压阀、旋转限制机构等。气管是所述气动人工肌肉所需气压的输入通道，管状弹性气腔与其外包裹的螺旋状热定型编织管组成的气动人工肌肉主体在输入气压变大时出现收缩，并输出线性位移。
前述管状弹性腔体由PS6600系列5号硅胶注入特定模具中制作而成，其过程如图2所示。组成模具的上下两长方体长度均为300mm，并各有一个直径2.8mm半圆通槽。两长方体贴合后，两半圆槽组成直径为2.8mm的通孔；中间芯轴直径为1mm，芯轴两端分别被内径为1mm、外径为2.8mm、长为10mm的圆管固定，以保证芯轴与通孔同轴；之后，将配制好的5号硅胶静置于真空箱内5min，用以去除硅胶中溶解的气泡。从模具上半部分的浇筑孔中注入上述硅胶，直至硅胶充满模具腔体。之后将模具置于45℃环境的烘箱中30min，待硅胶完全固化后，去除模具获得管状弹性腔体。
前述管状弹性气腔与其外包裹的螺旋状热定型编织管组成的人工肌肉主体的制作方式如下：
选择直径为6/πmm，初始直径与轴向压缩后的最大直径比为1:3的伸缩式尼龙编织软管。截取长度为300mm的编织管，将其嵌套于管状弹性气腔表面。之后将其紧密缠绕于直径为10mm的芯轴上，并在150℃烘箱环境下放置热定型30min，其过程如图3所示。最后将已热定型的人工肌肉的任意一端进行密封，另一端与外施气路连接，以完成人工肌肉的主体制备。
前述人工肌肉旋转限制机构如图1所示。人工肌肉封口尾端与负载之间由两根平行细杆连接，两平行细杆穿过一个有两对通孔的固定板，以此限制输入气压 后人工肌肉尾端的旋转。
图4为本实例中气动肌肉在不同气压下拉伸测试曲线。实例中，当输入气压不变时，人工肌肉的弹性系数在拉伸应变为10％-110％范围内近似于常数。另，人工肌肉的弹性系数随当输入气压增大而增大。由图4可知，在肌肉负载已知时，可以通过改变输入气压在精准控制输出位移；当固定人工肌肉长度在10％-110％的范围内，可以通过改变输入气压精准控制输出应力的大小。
本实例中的气动人工肌肉的收缩量随着输入气压的增大而增大，例如，在施加20g负载下，输入气压大于0.1MPa时收缩量即可到达最大值54％。当输入5Hz方波输入气压时，人工肌肉的最大收缩量仍可超过40％，如图5所示。
本发明中的气动人工肌肉即可伸长，又可收缩，即输出双向力与位移。其最大伸长与最大收缩量由人工肌肉螺旋结构的螺距决定。螺距减小则最大收缩量增大，最大伸长量减少；螺距增大则最大收缩量减小，最大伸长量增大。因此，可通过调整肌肉的螺距来满足实际应用中对于伸长或收缩量的需求。
综上所述，本发明相比以往气动人工肌肉具有以下优点：高输出功率密度；驱动气压小、收缩率大、可双向驱动且高频性能优异；输出力与位移关系为线性，更易于建立数学模型实现精准控制；另外本发明中气动人工肌肉造价低廉工艺简单。因此所述气动人工肌肉在工业自动化、移动机器人、外骨骼机器人、医疗康复、远程控制等多个领域具有广泛的应用前景。
以上所述的实施例，只是本发明较优选的具体实施方式的一种，本领域的技术人员在本发明技术方案范围内进行的通常变化和替换都应包含在本发明的保护范围内。

Claims (10)

  1. 基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉包括热定型编织管，管状弹性气腔，所述热定型编织管覆盖在管状弹性气腔表面，所述气动人工肌肉由编织管覆盖在管状弹性气腔表面，然后将管状弹性气腔卷绕在芯轴上并加热定型形成热定型编织管，去掉芯轴得到螺旋卷绕型气动人工肌肉。
  2. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述管状弹性气腔在内部充气后发生径向膨胀，为所述热定型编织管提供径向力，所述热定型编织管具有膨胀各向异性，受膨胀时其直径变大、长度变小；所述热定型编织管的螺旋角随管状弹性腔体的气压增大而增大，螺旋角为热定型后的编织线相互形成的锐角。
  3. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉的刚度和弹性系数随输入气压增大而增大，气动人工肌肉在发生伸缩形变后，会产生趋向于恢复原长的回复力；具体而言，所述气动人工肌肉处于拉伸状态时，其螺旋角随气压增大而增大，进而气动人工肌肉收缩；当气动人工肌肉处于压缩状态时，其螺旋角随气压增大而减小，从而气动人工肌肉伸长。
  4. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉既可伸长，也可以收缩，能够输出双向力与位移；其伸长与收缩的最大形变量决定于气动人工肌肉螺旋结构的螺距，螺距减小则最大收缩量增大，最大伸长量减少；螺距增大则最大收缩量减小，最大伸长量增大。
  5. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉螺旋结构的直径与热定型编织管的直径之比为气动人工肌肉的弹簧指数。
  6. 如权利要求5所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉的弹簧指数为5。
  7. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述管状弹性气腔采用2.8mm外径与0.9mm壁厚，材料采用PS6600系列5号硅胶。
  8. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌 肉，其特征在于，所述编织管为初始直径与轴向压缩后的最大直径比为1：3的伸缩式编织软管，编织管的初始内径等于管状弹性气腔外径，使得编织管能够包覆管状弹性气腔，所述编织管的制作材料为尼龙66。
  9. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，气动人工肌肉末端处的限制机构，用以阻止气动人工肌肉因充气而旋转；肌肉封口尾端与负载之间由两根平行细杆连接，两平行细杆穿过一有两对应孔的固定板，从而限制气压增大后肌肉尾端的旋转。
  10. 如权利要求1所述的基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉，其特征在于，所述气动人工肌肉使用气压泵作为动力源，根据管状弹性气腔内外径与热定型编织管直径大小来选择合适的输入气压，输入气压大于0.04MPa时，气动人工肌肉即可输出线性位移与力；对于不同负载，气动人工肌肉达到最大收缩率或最大伸长率所需的输入气压的范围仅为0.07MPa～0.1MPa。
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