KR101731163B1 - Artificial muscles actuator of robot - Google Patents

Abstract

The present invention relates to an artificial muscle actuator of a robot, which comprises: an artificial muscle section in which a plurality of artificial muscle fiber bundles contracting or expanding according to the degree of an input electrical signal are spaced apart from each other at a predetermined interval; A sensor unit for measuring a degree of the contraction or expansion motion of the muscular part and generating a status signal; A connection part for fixing both ends of the artificial muscle part and providing a path of driving signal lines for transmitting the electrical signal and state signal lines for transmitting the state signal; And a control unit for controlling the elasticity coefficient of the artificial muscle fiber bundle stored in advance in the storage unit and the input value for the contraction or expansion movement received from the provided input unit to reflect the state signal transmitted from the sensor unit, A control unit for generating the electric signal for controlling the motion; . ≪ / RTI >

Description

[0001] ARTIFICIAL MUSCLES ACTUATOR OF ROBOT [0002]

TECHNICAL FIELD The present invention relates to an artificial muscle actuator of a robot, and more particularly, to an artificial muscle actuator of a robot capable of precisely simulating a contraction or expansion action of a human muscle.

Recently, as the paradigm of robots is changed, robots are being widely developed not only for industrial robots but also for robots that can be used in ordinary households. Actuator that induces robot motion is a key component of robot.

On the other hand, research on artificial muscles that simulate human muscles in the technology of robots has recently been conducted. Conventionally, there are electric motors, pneumatic actuators, hydraulic actuators and the like as conventional actuators for robots. However, there are many problems such as the size of the actuators for the artificial muscles, the non-output of the actuators, and the manufacturing cost of the actuators. For example, when an electric motor is used as a driver of an artificial muscle, since an ordinary electric motor is manufactured at a high speed and a low torque, it is required to install a drive transmission system having an additional high gear ratio in order to operate the artificial muscle. Therefore, in the whole system, due to the additional drive transmission system, the efficiency of the output energy relative to the input energy is decreased, the weight of the whole system is increased, the production cost is increased, and maintenance is difficult.

In addition, conventional electric motors, pneumatic actuators, and hydraulic actuators do not meet the requirements of artificial muscle systems requiring fast reaction rates.

Therefore, it is required to develop a technique for a driver suitable for an artificial muscle, which is complementary to the problems of conventional actuators.

KR 10-0949191 B

An embodiment of the present invention provides an artificial muscle actuator of a robot that does not require an additional energy conversion device installed in the process of converting from electrical energy to mechanical drive.

In addition, the embodiment of the present invention provides a robot artificial muscle actuator capable of precisely simulating motion of a human muscle, such as a contraction or an inflation motion, rather than simply causing movement of the artificial muscle.

In addition, embodiments of the present invention provide an artificial muscle actuator of a robot that ensures higher efficiency than a conventional actuator.

The artificial muscle actuator of a robot according to an embodiment of the present invention includes an artificial muscle section in which a plurality of artificial muscle fiber bundles contracted or expanded according to the degree of an input electrical signal are spaced apart from each other at a predetermined interval and arranged in parallel; A sensor unit for measuring a degree of the contraction or expansion motion of the artificial muscle portion to generate a state signal; A connection part for fixing both ends of the artificial muscle part and providing a path of driving signal lines for transmitting the electrical signal and state signal lines for transmitting the state signal; And a control unit for controlling the elasticity coefficient of the artificial muscle fiber bundle stored in advance in the storage unit and the input value for the contraction or expansion movement received from the provided input unit to reflect the state signal transmitted from the sensor unit, A control unit for generating the electric signal for controlling the motion; . ≪ / RTI >

Wherein the artificial muscle fiber bundle is formed in a bundle shape in which a plurality of artificial muscle unit fibers are twisted along a spiral direction, wherein the artificial muscle unit fiber includes a center electrode, a dielectric elastomer extending along a radial direction from an outer surface of the center electrode, Wherein the artificial muscle unit fibers extend along a longitudinal direction of the center electrode and are twisted along a helix direction when the electrical signal is applied to the center electrode, As shown in FIG.

Wherein the center electrode is formed of carbon fiber, graphene, carbon nanotube, or carbon, and the dielectric elastomer is formed of polydimethylsiloxane (PDMS), silicon, aramid, or nylon, A carbon nanotube or carbon, and is electrically grounded, and the artificial muscle unit fiber extends along a spiral direction, and the artificial muscle unit fiber is wound around the center electrode when the electrical signal is applied, As shown in Fig.

The sensor unit may be formed to include an elastic material such that the sensor unit is wrapped around the artificial muscle unit or the artificial muscle unit and moves together with the contraction or expansion movement.

Wherein the sensor unit is connected to both ends of the electrode material, the elastic material surrounding the electrode material and the electrode material, extends along the longitudinal direction of the sensor unit and is exposed to the outside of both ends of the elastic material, And a signal line electrically connected to the signal line.

The electrode material may be formed of carbon powder, graphene powder, or conductive silicon, and the elastic material may be selected from the group consisting of elastic silicone, synthetic fiber, synthetic rubber, polymer, silicone rubber, acrylonitrile butadiene rubber butadiene rubber or poly-dimethylsiloxane, and the elastic material may be formed to have an elastic modulus value smaller than that of the artificial muscle fiber bundle.

The sensor unit may measure the resistance value of the artificial muscle fiber bundle changed during the contraction or expansion using the principle of the strain gage sensor and generate the state signal from the measured resistance value.

The sensor unit may measure the capacitance value of the artificial muscle fiber bundle changed during the contraction or expansion movement using the principle of the capacitance type sensor and generate the state signal from the measured capacitance value.

The control unit may further reflect the elastic modulus value of the elastic material in generating the electrical signal.

The artificial muscle actuator of the robot according to the embodiment of the present invention does not need an energy conversion device that is additionally installed in the process of converting electrical energy into mechanical driving by using artificial muscle formed by including a dielectric elastomer.

In addition, the artificial muscle actuator of the robot according to the embodiment of the present invention can measure the operation state of the artificial muscle through the sensor unit, and precisely control the artificial muscle by reflecting the state of the artificial muscle.

In addition, the artificial muscle actuator of the robot according to the embodiment of the present invention can be manufactured to have a simple structure and a light weight compared with the conventional actuator, thereby providing higher efficiency and faster reaction speed than the conventional actuator.

1 is a block diagram of an artificial muscle actuator of a robot according to an embodiment of the present invention;
2 is a schematic view of an artificial muscle actuator of a robot according to an embodiment of the present invention.
3 is an exemplary view showing an artificial muscle actuator of a robot according to an embodiment of the present invention.
FIG. 4 is an exemplary view showing a contraction movement of an artificial muscle according to an embodiment of the present invention; FIG.
FIG. 5 is an exemplary view showing a state in which an artificial muscle portion according to an embodiment of the present invention is inflated. FIG.
6 is an exemplary view showing a state in which an operation of an artificial muscle section according to an embodiment of the present invention is corrected;
7 is an illustration of an artificial muscle unit fiber according to an embodiment of the present invention.
FIG. 8 is a view showing an artificial muscle fiber bundle according to an embodiment of the present invention; FIG.
9 is an exemplary view for explaining a driving principle of a dielectric elastomer;

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. It should also be understood that the position or arrangement of individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which the claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

The terms used in the present invention, on the other hand, are used only to illustrate specific embodiments and are not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It is also to be understood that the terms "comprises" or "having ", and the like in the specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in the sense of the present invention Should not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.

1 is a block diagram of an artificial muscle actuator of a robot according to an embodiment of the present invention.

Referring to FIG. 1, an artificial muscle actuator 100 of a robot according to an embodiment of the present invention may include a controller 110, an artificial muscle section 120, and a sensor section 130.

The controller 110 may control the operation of the artificial muscle 120 and the sensor 130.

The control unit 110 may receive an input value through an input unit (not shown) provided in the artificial muscle actuator 100 of the robot. The input value may be an initial input value for controlling the contraction or expansion movement of the artificial muscle 120.

Thereafter, the controller 110 may generate an electrical signal for controlling the contraction or expansion of the artificial muscle 120 from the received input values. Here, the controller 110 may generate an electrical signal by reflecting the input value received through the input unit and the status signal received from the sensor unit 130. The control unit 110 may calculate the elastic modulus value of an artificial muscle fiber bundle (not shown) constituting the artificial muscle part 120 stored in advance in a storage unit (not shown) provided in the artificial muscle actuator 100 of the robot, An elasticity coefficient of the elastic material of the part 130 may be further reflected to generate an electrical signal.

Thereafter, the control unit 110 may transmit the generated electrical signal to the artificial muscle unit 120 through the connection unit 140.

Thereafter, the artificial muscle part 120 receives the initial electrical signal from the control part 110 through the connection part 140, and can perform contraction or expansion motion according to the received electrical signal.

The sensor unit 130 may measure the degree of contraction or expansion motion of the artificial muscle 120 to generate a status signal. The status signal may refer to an electrical signal indicative of the degree of contraction or expansion movement of the artificial muscle portion 120.

More specifically, when the artificial muscle section 120 performs contraction or expansion motion by an electrical signal transmitted from the control section 110, the sensor section 130 measures the state signal to generate a state signal, To the control unit 110.

The state signal may be generated as a single signal indicating the degree of contraction or expansion movement of a plurality of artificial muscle fiber bundles constituting the artificial muscle section 120.

In addition, the status signal may be generated by dividing a plurality of artificial muscle fiber bundles constituting the artificial muscle portion 120 into at least two groups and including signals indicating the degree of contraction or expansion movement of each group.

The state signal may be generated by including n signals indicating the degree of contraction or expansion motion for each of a plurality of artificial muscle fiber bundles constituting the artificial muscle section 120.

The degree of contraction or expansion movement of the artificial muscle section 120 undergoing contraction or expansion movement is measured according to the initial electrical signal transmitted from the control section 110 to determine the degree of contraction or expansion movement of the artificial muscle section 120 Can be generated.

Thereafter, the sensor unit 130 may transmit the generated status signal to the control unit 110 through the connection unit 140.

Thereafter, the control unit 110 generates an electrical signal for precise control by reflecting the state signal transmitted from the sensor unit 130, the elastic modulus value of the bundle of artificial muscle fibers stored in advance in the storage unit, and the input value received through the input unit .

Thereafter, the control unit 110 may transmit the generated electrical signals for precision control to the artificial muscle unit 120 through the connection unit 140.

Thereafter, the artificial muscle part 120 receives the electrical signal for precise control from the control part 110 through the connection part 140, and can perform contraction or expansion motion according to the received electrical signal for precise control.

The following is a detailed description of the artificial muscle actuator of the robot according to the embodiment of the present invention, with reference to Figs. 2 and 3.

FIG. 2 is a schematic view of an artificial muscle actuator of a robot according to an embodiment of the present invention, and FIG. 3 is an exemplary view showing an artificial muscle actuator of a robot according to an embodiment of the present invention.

2 and 3, an artificial muscle actuator 100 of a robot according to an embodiment of the present invention may include a controller 110, an artificial muscle section 120, a sensor section 130, and a connection section 140 have.

The sensor unit 130 is disposed at a circumference of the artificial muscle unit 120 or at a position where it is wrapped around the artificial muscle unit 120. The sensor unit 130 includes an electrode material (not shown), an elastic material (not shown) Line (not shown).

More specifically, the sensor unit 130 may include an elastic material, and may move together with the contraction or expansion movement of the artificial muscle 120.

The electrode material may be formed of a material having characteristics of flexibility, stretchability and conductivity.

More specifically, the electrode material may be formed of carbon powder, graphene powder, or conductive silicon.

The elastic material is formed to surround the electrode material, and may be formed of a material having characteristics of flexibility, stretchability, and elasticity.

More specifically, the elastic material of the sensor unit 130 may be selected from the group consisting of elastic silicone, synthetic fiber, synthetic rubber, polymer, silicone rubber, acrylonitrile butadiene rubber or poly-dimethylsiloxane And may be formed of a material having an elastic modulus value smaller than that of artificial muscle fiber bundles (not shown) constituting the artificial muscle part 120. [ The elastic modulus value of the elastic material of the sensor unit 130 may be reflected when the control unit 110 generates an electrical signal for controlling the operation of the artificial muscle unit 120.

The signal lines may include first signal lines and second signal lines connected to both ends of the electrode material, respectively. Each of the signal lines extends along the longitudinal direction of the sensor unit 130 and can be exposed to the outside of both ends of the elastic material.

Some signal lines of the exposed signal lines of the sensor unit 130 are electrically connected to the respective artificial muscle fiber bundles constituting the artificial muscle part 120 through the connection part 140, The degree of shrinkage or expansion motion of the sample can be measured.

In addition, the sensor unit 130 can measure the resistance value of each artificial muscle fiber bundle of each artificial muscle fiber bundle constituting the artificial muscle unit 120, which is changed during contraction or expansion movement, by using the principle of the strain gage sensor have. Thereafter, from the measured resistance value, n state signals can be generated, which are electrical signals indicating the contraction or expansion motion of each artificial muscle fiber bundle.

In addition, the sensor unit 130 measures the electrostatic capacitance value of each artificial muscle fiber bundle in which each artificial muscle fiber bundle constituting the artificial muscle unit 120 is changed during contraction or expansion movement, using the principle of the capacitance type sensor . Thereafter, from the measured capacitance values, n state signals, which are electrical signals indicating the degree of contraction or expansion motion of each artificial muscle fiber bundle, can be generated.

In addition, the sensor unit 130 may be configured to detect a change in the resistance value of the sensor unit 130 or a change in the electrostatic capacity of the sensor unit 130 that moves together with the contraction or expansion movement of each artificial muscle fiber bundle constituting the artificial muscle unit 120 It is possible to generate n state signals, which are electrical signals indicating the degree of contraction or expansion of at least one artificial muscle fiber bundle of a plurality of artificial muscle fiber bundles constituting the artificial muscle section 120. [

In addition, some signal lines of the exposed signal lines of the sensor unit 130 may be connected to the control unit 110 through the connection unit 140 to transmit the generated n status signals to the control unit 110.

Therefore, the controller 110 of the artificial muscle actuator 100 of the robot according to the embodiment of the present invention generates an electrical signal for controlling the operation of each artificial muscle fiber bundle constituting the artificial muscle section 120, The n state signals received from the controller 130 may be reflected.

More specifically, the controller 110 reflects n state signals received from the sensor unit 130 to generate an electrical signal and transmits the electrical signal to the artificial muscle unit 120 to form the artificial muscle unit 120 The contraction or expansion action of a plurality of artificial muscle fiber bundles can be controlled.

The control unit 110 generates n different electrical signals by reflecting the n state signals received from the sensor unit 130 and transmits the generated n electrical signals to the artificial muscle unit 120, The contraction or expansion action of each artificial muscle fiber bundle constituting the part 120 can be controlled.

The connection portion 140 may fix both ends of the artificial muscle portion 120.

When the sensor unit 130 is formed around the artificial muscle unit 120, the connection unit 140 can fix both ends of the artificial muscle unit 120 and both ends of the sensor unit 130 The first connection unit 140-1 and the second connection unit 140-2.

The first connection part 140-1 may fix one end of the artificial muscle part 120 and one end of the sensor part 130. [

The second connection portion 140-2 may fix the other end of the artificial muscle portion 120 and the other end of the sensor portion 130. [

The connection unit 140 may provide a path for driving signal lines (not shown) for electrically connecting the controller 110 and the artificial muscle unit 120 to each other. Here, the driving signal lines may refer to lines provided to transmit the electrical signals generated by the controller 110 to the artificial muscle 120.

More specifically, the control unit 110 is electrically connected to the artificial muscle unit 120 through the driving signal lines, and the control unit 110 controls the operation of the artificial muscle unit 120, Signal to the artificial muscle portion 120 through the driving signal lines.

The connection unit 140 may provide a path for status signal lines (not shown) for electrically connecting the controller 110 and the sensor unit 130. [ Here, the status signal lines may refer to lines provided to transmit the status signal generated by the sensor unit 130 to the controller 110.

The control unit 110 is electrically connected to the sensor unit 130 through the status signal lines and the control unit 110 controls the operation of the artificial muscle unit 120 through the status signal lines from the sensor unit 130. [ A state signal indicating the degree of contraction or expansion action may be received.

The artificial muscle part 120 receives an electrical signal from the controller 110 and can perform contraction or expansion according to the received electrical signal.

The artificial muscle part 120 may include a plurality of artificial muscle fiber bundles (not shown) spaced apart from each other at a predetermined interval and arranged in a parallel structure.

Next, the operation of the artificial muscle actuator of the robot according to the embodiment of the present invention will be described in detail with reference to FIGS. 4 to 6. FIG.

FIG. 4 is an exemplary view showing a contraction movement of an artificial muscle section according to an embodiment of the present invention, FIG. 5 is an exemplary view showing an expansion movement of an artificial muscle section according to an embodiment of the present invention, FIG. 8 is a view illustrating an example of correcting an operation of an artificial muscle according to an embodiment of the present invention.

4, when power is supplied to the artificial muscle actuator 100 of the robot according to the embodiment of the present invention, the contraction movement of the artificial muscle portion 120 is performed from an input portion provided in the artificial muscle actuator 100 of the robot When the input value for control is transmitted to the control unit 110, the control unit 110 may generate an electrical signal and transmit the electrical signal to the artificial muscle unit 120.

The electrical signals generated from the control unit 110 are transmitted to the artificial muscle fiber bundles constituting the artificial muscle part 120 and shrinkage deformation occurs in the artificial muscle fiber bundles. As a result, the artificial muscle part 120 is contracted You can exercise.

Also, the length of the sensor part 130 located around the artificial muscle part 120 when the artificial muscle part 120 is contracted is changed according to the contraction movement of the artificial muscle part 120.

The sensor unit 130 may generate a status signal from a resistance value or a capacitance value that changes according to a change in length of a plurality of artificial muscle fiber bundles constituting the artificial muscle part 120 and transmit the state signal to the controller 110 in real time .

Alternatively, the sensor unit 130 generates a state signal from the resistance value or capacitance value of the sensor unit 130 itself, which changes according to a change in the length of a plurality of artificial muscle fiber bundles constituting the artificial muscle unit 120 To the control unit 110 in real time.

The control unit 110 can recognize the degree of contraction of the artificial muscle 120 based on the state signal received from the sensor unit 130. The control unit 110 reflects the state signal received from the sensor unit 130, the elastic modulus value of the bundle of artificial muscle fibers stored in advance in the storage unit, and the input value for contraction or expansion movement received from the provided input unit, An electrical signal having a precise voltage value can be generated to control the operation of the muscular part 120. [

More specifically, the control unit 110 calculates an error between a state signal received through the sensor unit 130 and an input value received from the input unit, and outputs a PID By controlling the magnitude of the voltage of the electrical signal through the feedback control, the user can control as much contraction displacement as desired. At least one of the values of the elastic modulus of the bundle of artificial muscle fibers stored in the storage unit and the elastic modulus of the elastic material of the sensor unit 130 may be reflected in adjusting the magnitude of the voltage of the electrical signal.

5, the artificial muscle 120 of the artificial muscle actuator 100 of the robot according to the embodiment of the present invention performs contraction movement corresponding to the input value received from the input unit by the control unit 110, And is expanded to a hydrated state. The control unit 110 may gradually reduce or cut off the voltage magnitude of the electrical signal applied to contract the artificial muscular part 120 in order to expand the artificial muscle part 120. [ When the voltage of the electrical signal is gradually reduced, the artificial muscle section 120 gradually expands, and when the electrical signal is intercepted, the artificial muscle section 120 can be instantaneously expanded to the state before the contraction. The control unit 110 performs a process of expanding the artificial muscle 120 and receives a status signal indicating the degree of expansion of the artificial muscle 120 from the sensor 130, And may reflect the received state signal in real time to determine the degree of gradual reduction of the voltage of the electrical signal.

Referring to FIG. 6, the controller 110 according to an embodiment of the present invention includes two sensor units 130-a and 130-b mounted around the artificial muscle 120 due to an external force, A and 120-b forming a plurality of artificial muscle fiber bundles 120-a and 120-b constituting the artificial muscle portion 120 are warped to one side, and when the resistance value or the electrostatic capacitance value of the artificial muscle portion 120 is not equal (Voltage) is applied to the artificial muscle bundle 120 of the artificial muscle section 120 which is less contracted so that the sensor units 130 can have the same resistance value or capacitance value, The length of the plurality of artificial muscle fibers constituting the artificial muscle fibers can be kept the same. Therefore, the control unit 110 of the artificial muscle actuator 100 of the robot according to the embodiment of the present invention grasps and controls the state of the currently operated artificial muscle unit 120 through the sensor unit 130, It can function as a self-absorbing sensation that can perceive the extent of muscle contraction and degree of expansion.

Hereinafter, artificial muscle unit fibers constituting an exemplary artificial muscle fiber bundle that can be used for the artificial muscle section 120 according to an embodiment of the present invention will be described in detail with reference to FIG.

FIG. 7 is an illustration of an artificial muscle unit fiber according to an embodiment of the present invention. FIG.

Referring to FIG. 7, the artificial muscle unit fiber 200 according to the embodiment of the present invention may include a center electrode 210, a dielectric elastomer 220, and an opposite electrode 230.

The center electrode 210 may be formed of carbon fiber, graphene, carbon nanotube, or carbon.

The dielectric elastomer 220 is formed to extend along the radial direction from the outer surface of the center electrode 210 and may be formed of polydimethylsiloxane (PDMS), silicon, aramid, or nylon.

The counter electrode 230 is formed to surround the outer surface of the dielectric elastomer 220 and may be formed of carbon fiber, graphene, carbon nanotube, or carbon. Further, the counter electrode 230 may be electrically grounded. In addition, the center electrode 210 and the counter electrode 230 may be provided with a dielectric elastic body 220 interposed therebetween.

When the artificial muscle unit fiber 200 is formed in a coil shape extending along the spiral direction, when an electrical signal is applied to the center voltage 210 of the artificial muscle unit fiber 200, The artificial muscle unit fibers 200 may be expanded along the longitudinal direction of the artificial muscle unit fibers 200. This is because the dielectric elastomer 220 shrinks and expands when an electrical signal is applied to the center electrode 210 of the artificial muscle unit fiber 200.

Meanwhile, although the artificial muscle unit fiber 200 constituting the artificial muscle unit 120 according to the embodiment of the present invention is described as being formed in a coil shape as a whole, the artificial muscle unit fiber 200 is not limited thereto, Any structure capable of achieving longitudinal expansion of the fibers 200 may be included herein.

Exemplary artificial muscle fiber bundles that can be used in the artificial muscle part 120 according to the embodiment of the present invention will be described in detail with reference to FIG.

8 is a view illustrating an artificial muscle fiber bundle according to an embodiment of the present invention.

Referring to FIG. 8, the artificial muscle fiber bundle 300 according to the embodiment of the present invention may be provided in a coil shape extending along the spiral direction of the artificial muscle unit fiber 200.

More specifically, the artificial muscle fiber bundle 300 includes a center electrode 210, a dielectric elastomer 220, and a counter electrode 230 in a state where the center electrode 210, the elastic electrode 220, and the counter electrode 230 of the artificial muscle unit fiber 200 are twisted. ), The dielectric elastomer 220 and the counter electrode 230 are further rotated to form the artificial muscle fiber bundle 300.

In addition, the artificial muscle fiber bundle 300 according to the embodiment of the present invention may be formed by twisting together a plurality of coiled artificial muscle unit fibers 200 extending along the spiral direction as a whole.

When an electrical signal is applied to the center electrode 310 of the artificial muscle fiber bundle 300 constituting the artificial muscle fiber bundle 300, the dielectric elastomer 320 of the section of the artificial muscle fiber bundle 300, The elastic elastomer 320 of the first elastic member 320 can move in a direction close to each other.

More specifically, when an electrical signal is applied to the center electrode 310 of the artificial muscle fiber bundle 300 constituting the artificial muscle fiber bundle 300, the dielectric elastomer 320 shrinks and expands to form a contracted and expanded dielectric elastomer The artificial muscle fiber bundle 300 is contracted by the elastic body 320, and consequently the artificial muscle part 120 can contract. This is because when the voltage is applied to the center electrode 310 of the artificial muscle fiber bundle 300, the artificial muscle fiber bundle 200 constituting the artificial muscle fiber bundle 300 expands along the longitudinal direction, ) Contracts.

Meanwhile, the contraction movement of the artificial muscle section 120 according to the embodiment of the present invention is substantially the same as the movement of the human muscle contraction when the force is applied, and the artificial muscle section 120, which utilizes the deformation of the genuine elastic body, Reaction rate can be provided.

Next, the operation principle of the dielectric elastomer will be described in detail with reference to FIG. 9 to explain the operation of the artificial muscle 120 according to the embodiment of the present invention.

9 is an exemplary view for explaining the driving principle of the dielectric elastomer.

First, the basic driving principle of a dielectric elastomer is similar to that of a capacitor composed of two flat plates placed in parallel, converting electrical energy into mechanical energy.

9 (a) is an illustration of an example of a dielectric elastomer in a state in which no voltage is applied. A flexible electrode (Compliant Electrode) is coated on both sides of the dielectric elastomer.

9 (b) is an illustration of a dielectric elastomer to which a voltage is applied. When a voltage is applied to a soft electrode on both sides of a dielectric elastomer, an electrostatic force is generated due to the charged amount and the negative charge on both surfaces of the soft electrode. The generated electrostatic force contracts the dielectric elastomer and simultaneously expands in the horizontal direction.

More specifically, the dielectric elastomer is pressed from both sides by the compressive forces in the vertical direction generated on both sides by the electrostatic force, contracted in the thickness direction and simultaneously expanded in the horizontal direction. The principle of motion of such a dielectric elastomer can be explained by the principle of Maxwell stress. The Maxwell stress principle is a general known principle, so a detailed explanation will be omitted.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited by the described embodiments but should be determined by the equivalents of the claims and the claims.

100: artificial muscle actuator of the robot 110:
120: artificial muscle part 130: sensor part
200: artificial muscle unit fiber 210: center electrode
220: dielectric elastomer 230: opposing electrode
300: artificial muscle fiber bundle 310: center electrode
320: dielectric elastomer 330: opposing electrode

Claims (9)

An artificial muscle section in which a plurality of artificial muscle fiber bundles that are contracted or expanded according to the degree of an input electrical signal are spaced apart from each other at predetermined intervals and arranged in a parallel structure;
A sensor unit disposed at a position to be wrapped around the artificial muscle portion or the artificial muscle portion to measure a degree of the contraction or expansion motion of the artificial muscle portion to generate a state signal;
A connection part for fixing both ends of the artificial muscle part and providing a path of driving signal lines for transmitting the electrical signal and state signal lines for transmitting the state signal; And
The elasticity coefficient value of the artificial muscle fiber bundle stored in advance in the storage unit and the input value for the contraction or expansion movement received from the provided input unit to reflect the state signal received from the sensor unit, A control unit for generating the electrical signal for controlling the electrical signal;
Wherein the artificial muscle actuator of the robot comprises:
2. The method of claim 1, wherein the artificial muscle fiber bundle comprises:
A plurality of artificial muscle unit fibers are formed in a bundle shape twisted along a spiral direction,
Wherein the artificial muscle unit fiber has a center electrode, a dielectric elastomer extending in a radial direction from an outer surface of the center electrode, and a counter electrode surrounding the outer surface of the dielectric elastomer,
Wherein the artificial muscle unit fiber extends along a longitudinal direction of the center electrode and is twisted along a helix direction when the electrical signal is applied to the center electrode to rotate along the spiral direction.
3. The method of claim 2,
Wherein the center electrode is formed of carbon fiber, graphene, carbon nanotube, or carbon, and the dielectric elastomer is formed of polydimethylsiloxane (PDMS), silicon, aramid, or nylon, A carbon nanotube or carbon, and is electrically grounded, and the artificial muscle unit fiber extends along a spiral direction, and the artificial muscle unit fiber is wound around the center electrode when the electrical signal is applied, The artificial muscle actuator of the robot contracts along the longitudinal direction of the robot.
The apparatus according to claim 1,
Wherein the artificial muscle actuator includes an elastic material to move together with the contraction or expansion movement of the artificial muscle portion.
5. The apparatus according to claim 4,
And an elastic member which surrounds the electrode material and is connected to both ends of the electrode material so as to extend along a longitudinal direction of the sensor unit and is exposed to the outside of both ends of the elastic material and electrically connected to the control unit and the artificial muscle unit, An artificial muscle actuator of a robot constituted by signal lines to be connected.
6. The method of claim 5,
The electrode material may be formed of carbon powder, graphene powder, or conductive silicon, and the elastic material may be selected from the group consisting of elastic silicone, synthetic fiber, synthetic rubber, polymer, silicone rubber, acrylonitrile butadiene rubber butadiene rubber or poly-dimethylsiloxane, and the elastic material is formed to have an elastic modulus value smaller than the elastic modulus value of the artificial muscle fiber bundle.
7. The sensor device according to any one of claims 1 to 6,
Wherein the resistance value of the artificial muscle fiber bundle changed during the contraction or expansion movement is measured using the principle of the strain gage sensor and the state signal is generated from the measured resistance value.
7. The sensor device according to any one of claims 1 to 6,
Measuring an electrostatic capacitance value of the artificial muscle fiber bundle changed during the contraction or expansion motion using the principle of the capacitance type sensor and generating the state signal from the measured electrostatic capacitance value.
7. The apparatus of claim 6,
Wherein the elasticity coefficient value of the elastic material is further reflected in generating the electrical signal.

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