The invention discloses a seven-degree-of-freedom humanoid mechanical arm driven by pneumatic
muscle. The mechanical arm is composed of a fixing support, a
shoulder joint, a big arm, an
elbow joint, aforearm, a
wrist joint and a hand, wherein the
shoulder joint is provided with a degree of shoulder buckling stretching freedom, a degree of shoulder abduction freedom and a degree of big arm inner rotation and outer rotation freedom, the axles of the degree of shoulder buckling stretching freedom, the degree of shoulder abduction freedom and the degree of big arm inner rotation and outer rotation freedom intersect at one point, the
elbow joint is provided with a degree of
elbow buckling stretching freedom, the
wrist joint is provided with a degree of elbow-
forearm pre-rotation and post-rotation freedom, a degree of
wrist buckling stretching freedom and a degree of wrist abduction freedom, the axles of the degree of elbow-
forearm pre-rotation and post-rotation freedom, the degree of wrist buckling stretching freedom and the degree of wrist abduction freedom intersect at one point, and the movement of the mechanical arm completely simulates people. Each degree of freedom of the mechanical arm is driven by a pair of pneumatic
muscle antagonists, and a
bowstring wire and a steel
wire rope are used for transmission. According to the seven-degree-of-freedom humanoid mechanical arm driven by pneumatic
muscle, the artificial degree is higher, a
transmission system is simpler, and the degree of
coupling between different pneumatic muscles is lower; and the installation position of the pneumatic muscle is more flexible, the arrangement of the pneumatic muscle is more compact, and the pre-tightening force of the pneumatic muscle is adjustable.