Design and Driving Characteristics of Rehabilitation Robot Flexible Joints Based on Polyvinylidene Fluoride
To solve the problem of poor compliance of the rehabilitation robot body, a new polyvinylidene fluoride (PVDF) gel based artificial muscle is proposed, which is used as the flexible joint actuator of rehabilitation robots to achieve human-like actions. The preparation and the electric deformation me...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-05-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.05.023 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | To solve the problem of poor compliance of the rehabilitation robot body, a new polyvinylidene fluoride (PVDF) gel based artificial muscle is proposed, which is used as the flexible joint actuator of rehabilitation robots to achieve human-like actions. The preparation and the electric deformation mechanism of PVDF gel are introduced, the monomer-muscle with the function of contraction and extension is designed based on electric deformation mechanism, and then multiple monomer-muscles are combined up and down in series to form a hierarchical artificial muscle. Based on the three-level artificial muscle for the flexible joint of the rehabilitation robot, the driving mathematical model is identified, and simulation and experiment are implemented. The research results show that the artificial muscle can effectively realize position control and have the ability of electrostriction and expansion. As an actuator, it is feasible to apply it to robot flexible joints. |
|---|---|
| ISSN: | 1004-2539 |