49results about How to "High power/mass ratio" patented technology

The invention discloses a simulated human lower limb system on the basis of pneumatic muscles. Movement of a muscle driving hip joint, a knee joint, an ankle joint and toes of a human body is simulated by the aid of the pneumatic muscles, and movement functions of the lower limb of the human body can be completely simulated. A simulated human lower limb mainly comprises a pelvis, a femur, a fibula, a foot sole, the toes, spherical hinges, the pneumatic muscles and a pneumatic muscle fixing plate. The pneumatic muscle driving hip joint which can be used for simulating effects of gluteus maximus muscles, an adductor muscle, iliopsoas muscles, obturator internus muscles, piriformis muscles and the like rotates around a vertical axis, a sagittal axis and a coronal axis; rectus femoris muscles, rear-side muscle groups of a thigh, gracilis muscles and biceps femoris muscles drive the knee joint to rotate around the vertical axis and the coronal axis; triceps surae muscles, front group muscles and outer-side group muscles drive the ankle joint to rotate around the sagittal axis and the coronal axis; the five toes carry out flexion-extension actions under the driving effects of flexor pollicis longus muscles, extensor pollicis longus muscles, flexor digitorum longus muscles and extensor digitorum longus muscles. The simulated human lower limb system has the advantages that the simulated human lower limb system is driven by the pneumatic muscles, is compact in structure and good in explosion-proof performance, is clean and can be used for teaching and demonstration.

The invention discloses a two-way directional force output air-powered flexible drive device, comprising an end cover, a first rubber tube, and an air-powered flexible drive device constructed by springs embedded in the wall of the rubber tube; a piston cylinder is arranged in front of the air-powered flexible drive device, a second rubber tube is sheathed outside the air-powered flexible drive device in an air-tight way, and the front end of the second rubber tube is sheathed at the rear end cover of the piston cylinder; the piston cylinder is provided with a front airport and a rear airport with a piston body arranged between the front airport and the rear airport; the piston body is connected with a hollow piston rod, the rear end of the piston rod is connected with the front end cover of the air-powered flexible drive device, and the piston rod is communicated with the inner cavity of the piston cylinder communicating the front airport and the inner cavity of the air-powered flexible drive device; the rear end cover of the piston rod is provided with through holes which is communicated with the inner cavity of the piston cylinder communicating the rear airport and the inner cavity of the second rubber tube. The invention has the advantages of flexible motion, good flexibility, high stiffness, large stroke and similar movement mode with the animal muscles.

The invention discloses a whole body exoskeleton rehabilitation system based on pneumatic muscles. The whole body exoskeleton rehabilitation system uses the pneumatic muscles as executing elements totrain the wrist joints, elbow joints, shoulder joints, chest joints, waist joints, hip joints, knee joints and ankle joints of a user and has the function of training whole body exercises of the user.The rehabilitation system is driven by the pneumatic muscles, has the advantages of being compact in structure, clean and good in explosion-proof performance and can be used for medical rehabilitation training of patients.

The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The humanoid robot system is driven by the pneumatic muscles and the air cylinders at the same time and has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for exhibition, meeting and teaching demonstration.

The invention relates to a hydraulic power device of a bear-loading hopping robot. A hydraulic manifold block form is applied. A motor, an energy accumulator, a reversing valve, an overflow valve, an oil tank, an oil guiding block, a gear pump and a hydraulic pipeline are installed on an oil way manifold block, wherein the oil guiding block and the gear pump are fixed in the oil tank. An oil port of a hydraulic element is connected with a corresponding oil port on the oil way manifold block. The other end of the hydraulic pipeline is connected with a hydraulic cylinder. The motor is connected with the gear pump through a coupler. When the motor operates, the gear pump injects oil in the oil tank into a corresponding oil way in the oil way manifold block through the oil guiding block, the energy accumulator accumulates energy, the flow direction inside the hydraulic pipeline is controlled through the reversing valve, and quick movements of the hydraulic cylinder are achieved. The hydraulic power device of the bear-loading hopping robot is small in size, low in weight, high in ratio of power to mass, easy to control, capable of providing system power for assigned joints in a centralized mode in an extremely short time, and capable of meeting driving requirements of special movements, thereby enabling the overall structure of the bear-loading hopping robot to be simple and compact.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention discloses a humanoid robot based on pneumatic muscles. According to the humanoid robot, human muscles are simulated by the pneumatic muscles to drive movement of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, so that the humanoid robot has a function of completely simulating human movement. The humanoid robot has the advantages ofcompact structure, cleanness and good anti-explosion performance, and can be applied to scientific research, teaching demonstration and medical diagnosis.

The invention provides a quadruped robot hydraulic power system with double pump sources connected in parallel for oil supply. The system comprises a high-pressure pump, an engine, a medium-pressure pump, a high-pressure oil path servo valve, a medium-pressure oil path servo valve and a hydraulic cylinder, wherein the engine is respectively connected with the high-pressure pump and the medium-pressure pump; the high-pressure oil path servo valve and the medium-pressure oil path servo valve are connected to the hydraulic cylinder in parallel; an oil outlet of the high-pressure pump is connectedwith an oil inlet of the high-pressure oil path servo valve to form a high-pressure oil path; an oil outlet of the medium-pressure pump is connected with an oil inlet of the medium-pressure oil pathservo valve to form a medium-pressure oil path; and the output pressure provided by the high-pressure pump is greater than the output pressure provided by the medium-pressure pump. According to the system, hydraulic oil sources with two pressures can be simultaneously provided for joint hydraulic cylinders of a quadruped robot to select, so that the joint load characteristics in the walking process of the quadruped robot are better matched, and the efficiency of the quadruped robot hydraulic power system is remarkably improved.

The invention discloses a simulated human lumbar vertebra system based on pneumatic muscles. Human muscles are simulated by the pneumatic muscles, movement of lumbar vertebrae is driven, and the system has the function of completely simulating human lumbar vertebra movement. The simulated human lumbar vertebrae mainly comprise a plurality of multifidus muscles, lesser psoas muscles, semispinalis muscles, vertebrae, rotator muscles, pelvises, rotator muscles, psoas muscles, quadratus lumborum muscles and pneumatic muscle fixing plates, and the muscles coordinately move to realize extension, retraction and circumduction of waist joints. The simulated human lumbar vertebra system is driven by the pneumatic muscles, has a compact structure, cleanness and a good explosion-proof performance andcan be used for teaching and demonstration.

The invention discloses a mechanical device for universal rehabilitation training of a wrist joint. During wrist rehabilitation training, the mechanical device can achieve universal mechanical deformation, and satisfy wrist joint rehabilitation training in different scenes; a palm is placed in a rehabilitation glove; same pneumatic artificial muscles are installed at the two sides of the rehabilitation glove device; the pneumatic artificial muscles are contracted through a pneumatic system; therefore, the pneumatic artificial muscles are made to do the same stretching motion in sequence, so that rehabilitation training on the wrist joint can be completed; then, the motions of the two groups of artificial muscles are combined to realize composite rehabilitation; and thus, the problem of motion rehabilitation of the wrist joint in different directions is solved.

The invention discloses an artificial lower limb system based on pneumatic muscle. Muscle of people is simulated by pneumatic muscle so as to drive hip joints, knee joints and ankle joints to move, and the artificial lower limb system has the function of completely simulating the movement of lower limbs of people. An artificial lower limb comprises a pelvis, a thighbone, a fibula, a foot, pneumatic muscle and a fibular muscle connecting plate, the pneumatic muscle which is used for simulating the effects of internal obturator muscle, quadratus femoris, pectineal muscle, breviductor, adductor magnus, musculi adductor longus, gluteus medius, piriformis, gluteus maximus and iliopsoas is used for driving the thighbone to bend, stretch, retract, extend and annularly rotate; biceps femoris muscle, adductor magnus, semitendinosus and semimembranosus are simulated to drive the thighbone and the fibula to bend, stretch, retract, extend and annularly rotate; soleus, short peroneal and tibialis anterior muscle are simulated to drive the foot to bend, stretch, retract, extend and annularly rotate; and musculi flexor pollicis longus, extensor longus pollicis, musculi flexor digitorum longus andextensor digitorum longus are simulated to drive five toes to bend and stretch. The artificial lower limb system has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for medical diagnosis, teaching demonstration, exoskeleton rehabilitation training and athletic training of athletes.

The invention discloses a human finger simulation system based on pneumatic muscles. The human finger simulation system is capable of simulating motion of finger joints driven by muscles of human through pneumatic muscles and has the functions of completely simulating motion of fingers and hands of the human. The human finger simulation system mainly comprises fixed plates, connection shafts, beltwheels, V-shaped belts and pneumatic muscles; a combination of single-joint oppositely-pulled pneumatic muscles and the belt wheels is characterized by simultaneously driving multiple joints througha group of oppositely-pulled muscles so as to oppositely pull the pneumatic muscles, achieve the effect of simultaneously regulating angles and stiffness of the multiple joints, reduce the number of the oppositely-pulled muscles and switch the actions of holding, grasping and snapping. The human finger simulation system is driven by the pneumatic muscles, has the characteristics of compact structure, simplicity in control, high flexibility, high output force and adjustable stiffness, and can be applied to the fields of grasping of objects, teaching demonstration and carrying of parts.

The invention discloses a bionic fish system based on series-parallel pneumatic muscles. According to the bionic fish system, muscles of a fish are simulated by the pneumatic muscles to drive the motion of a multi-joint fish, and the function of completely simulating the motion of the fish can be achieved. The bionic fish comprises a fish head, pneumatic muscle connecting plates, a tail fin, spines, a single-joint pneumatic muscle, a two-joint pneumatic muscle, a three-joint pneumatic muscle, and an n-1-joint pneumatic muscle; the fish head is connected to the spines in a rotating mode, and the pneumatic muscle connecting plates are connected to the spines in a rotating mode; the two ends of the pneumatic muscles are connected to the pneumatic muscle connecting plates in a rotating mode; the single-joint pneumatic muscle, the two-joint pneumatic muscle, the three-joint pneumatic muscle, and the n-1-joint pneumatic muscle are correspondingly and simultaneously connected to a single joint, two joints, three joints, and n-1 joints; and the pneumatic muscles are controlled to be inflated and deflated according to actual needs, so that the fish can swim at different speeds. The bionic fish system is driven through the pneumatic muscles and has the advantages of being compact in structure, clean, good in anti-explosion performance and capable of being used for underwater and water surface operation, teaching demonstration and scientific research.

The invention discloses a pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot and a control system thereof. The pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot drives joints to move through pneumatic muscles and has the multi-degree-of-freedom humanoid pole-climbing function. The multi-degree-of-freedom humanoid pole-climbing robot is mainly composed of an upper end Y-direction clamping system, an upper end X-direction clamping system, a climbing system, a climbing pole and a lower end clamping system. The upper end Y-direction clamping system, the upper end X-direction clamping system and the lower end clamping system are used for firmly grasping the climbing pole. The climbing system is composed of two pairs of support legs used for realizing vertical crawling in the X-direction and the Y-direction. The pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot conducts driving through the pneumatic muscles, has thecharacteristics of being compact in structure, clean and good in explosion-proof performance and can be used for paint spraying, cleaning and maintaining of high-rise irregular rod-like urban buildings.

The invention discloses a humanoid cervical vertebra system based on a pneumatic muscle. The pneumatic muscle is used for simulating a muscle of a cervical vertebra of a human body so as to drive a neck and a head to move. The system comprises multiple ribs, multiple vertebras, a skull, multiple musculus longus colli, musculus longus capitis, splenius capitis, semispinalis capitis, a rectus capitis posterior major muscle, an inferior oblique muscle, a rectus capitis posterior minor muscle, a rotator muscle, a neck multifidus muscle, a splenius cervicis muscle, a scalene muscle and a pneumaticmuscle connecting plate. Two ends of the muscles such as the musculus longus colli, the musculus longus capitis, the splenius capitis, the semispinalis capitis, the rectus capitis posterior major muscle, the inferior oblique muscle and the rectus capitis posterior minor muscle are connected with the pneumatic muscle connecting plate and the skull, so that the neck and the head are driven to bend,stretch, retract, extend and turn; and two ends of the rotator muscle, the neck multifidus muscle, the splenius cervicis muscle, the scalene muscle, the splenius capitis and the rotator muscle are connected with the ribs and the pneumatic muscle connecting plate, so that the neck and a chest are driven to bend, stretch, retract, extend and turn. The system is driven by the pneumatic muscle so as to be compact in structure, clean, good in anti-explosion performance, and capable of being applied to the fields such as teaching, demonstrating and medical diagnosing.

The invention relates to the technical field of linear driving of soft robots, in particular to a bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on a braided tube. The characteristic that the mechanical property of the spiral braided tube changes along with internal expansion is utilized to achieve output of force and displacement. The expansion direction of the braided tube can be influenced by the load applying direction, so that when the load directions are different, the directions of output force and displacement are different, and bidirectional driving is realized. Compared with other pneumatic artificial muscles, the pneumatic artificial muscle is smaller in air cavity volume and higher in inflation and deflation speed, and the pneumatic artificial muscle has the advantages that the driving air pressure is reduced, the shrinkage rate is increased and the response speed is high while the high mass ratio and the power ratio of the conventional pneumatic artificial muscle are kept.

The invention relates to a pneumatic-based humanoid robot system. Upper limb joints are connected with a waist joint, and lower limb joints are symmetrically arranged below the waist joint; one side of a shoulder joint support of the upper limb joints is rotatably connected with a first shoulder joint cylinder, a second shoulder joint cylinder and a third shoulder joint cylinder, the other side ofthe should joint support of the upper limb joints is rotatably connected with a fourth shoulder joint cylinder, a fifth shoulder joint cylinder and a sixth shoulder joint cylinder, the first shoulderjoint cylinder, the second shoulder joint cylinder and the third shoulder joint cylinder are rotatably connected with a shoulder joint tail end plate, the fourth shoulder joint cylinder, the fifth shoulder joint cylinder and the sixth shoulder joint cylinder are rotatably connected with a connecting shoulder joint tail end plate on the other side, each connecting shoulder joint tail end plate isfixedly connected with a first elbow joint side plate and a second elbow joint side plate, a cylinder body of each swing cylinder I is fixed to each elbow joint side plate I, and a rotating shaft of each swing cylinder I is fixed to a second pulley. The pneumatic-based humanoid robot system is compact in structure, multiple in degrees of freedom, rigid and flexible in combination and large in working space and avoids joint singularity.

The invention relates to a pneumatic humanoid robot system. The pneumatic humanoid robot system uses pneumatic muscles to simulate human muscles to drive hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints to move and has the function of completely simulating human joint movement. The pneumatic humanoid robot system is mainly composed of pelvis, ribs, vertebrae, the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. Bones of the waist joints are constructed by vertebrae, ribs, chest structural members and pelvis, and long pneumatic muscles and short pneumatic muscles drive the waist joints to move together. In lower limb joints, single-joint pneumatic muscles and multi-joint pneumatic muscles are combined, and the multi-joint pneumatic muscles and the multi-joint pneumatic muscles are crosswise combined to drive the lower limb joints to move. Multi-joint pneumatic muscles in upper limb joints form antagonistic muscles to drive the shoulder joints and the elbow joints to move. The pneumatic humanoid robot system is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention discloses a quadruped bionic system based on the pneumatic muscle. The bionic system uses the pneumatic muscle to simulate the muscle of a quadruped to drive the neck, fore legs, thoracic joint, lumbar joint and hind legs to move, particularly simulate the pneumatic muscle having the actions of the sternocephalicus muscle, brachiocephalic muscle, musculi splenius, superficialis chestmuscle, arm triceps muscle, wrist radial extensor muscle, wrist oblique extensor muscle, wrist ulnar lateral flexor muscle, wrist radial flexor muscle and the like to drive the neck and the fore legsto flex, fold, unfold and rotate, simulate the posterior serratus muscle and the latissimus dorsi muscle to drive the thoracic joint to do lateral bending, pitching and circular rotation motions, simulate the internal oblique muscle and the medius arm muscle to drive the lumbar joint to do lateral bending, pitching and circular rotation motions, and simulate the pneumatic muscle having the actions of tensor fascia lata, quadriceps femoris, semitendinosus, tibialis anterior, peroneal longus, gastrocnemius and the like to drive the hind legs to flex, fold and unfold. According to the quadrupedbionic system based on the pneumatic muscle, the pneumatic muscle is used for driving, the quadruped bionic system based on the pneumatic muscle has the beneficial effects of being compact in structure, clean and good in explosion-proof performance and can be used for teaching and demonstration.

The invention discloses a multi-cylinder snake-like robot system based on pneumatic muscles. Multi-cylinder elements formed by the pneumatic muscles serve as executing elements to drive movement of joints, and a function of completely simulating snake movement is achieved. A multi-cylinder snake-like robot based on the pneumatic muscles is mainly composed of the pneumatic muscles, connection pieces and a fixed plate. The shrinking movement range of the multi-cylinder elements formed by the pneumatic muscles which are stacked in a staggered manner is far larger than that of a single pneumatic muscle of the equal length. Each single multi-cylinder element can go forwards, retreat and swing, and a combination of the multi-cylinder elements can go forwards, retreat and swing in many directions. The multi-cylinder snake-like robot system based on the pneumatic muscles is driven by the multi-cylinder elements formed by the pneumatic muscles, has the beneficial effects of being large in output force and good in cleaning and anti-explosion performance, and can be used for teaching demonstration, obstacle crossing and part grabbing.

The invention discloses a human waist joint simulation system based on the series-parallel connection of pneumatic muscles and an air cylinder. The pneumatic muscles simulating the human muscles and the thin-walled air cylinder drive the ribs and the vertebrae to move, and the system has the function of completely simulating the movement of the human waist joints. The human waist joint simulationsystem is mainly composed of the pelvis, the ribs, the vertebra, the thin-walled air cylinder, the pneumatic muscles and the like, and the pneumatic muscles simulating the effects of the latissimus dorsi muscles, the obliquus externus abdominis muscles, the rectus abdominis muscles, the erector spinae muscles and the like and the thin-walled air cylinder drive the rib and vertebral joints to rotate around a vertical axis, a sagittal axis and a coronal axis and make linear movement in the three directions. The system is driven by the pneumatic muscles and the thin-walled air cylinder, has the advantages of compact structure, multiple degrees of freedom and good explosion-proof performance, and can be used for medical diagnosis, teaching demonstration, exhibition and the like.

The invention discloses a mechanical device for rehabilitation training of wrist joints. When a palm is horizontally placed, wrist rehabilitation training is conducted, the palm is horizontally placedin a rehabilitation glove, the five fingers are placed in the corresponding finger stalls, the same pneumatic artificial muscles are installed on the two sides of a rehabilitation glove device, and the pneumatic artificial muscles are contracted through a pneumatic power system and sequentially stretched in the same direction; and therefore, rehabilitation training can be completed when the palmof the wrist joint is horizontally placed. When the palm is vertically placed, the artificial muscle is deeply stretched to increase the swing amplitude of the rehabilitation glove, rehabilitation training of wrist joints in different scenes is met, then combined rehabilitation is achieved, and the problem of swing rehabilitation of the wrist joints in different directions is solved.

The invention relates to a profiling robot system based on pneumatic muscles. The profiling robot system uses the pneumatic muscles to simulate human muscles to drive a hip joint, a knee joint, an ankle joint, a waist joint, a shoulder joint, an elbow joint and a wrist joint to move, and has a function of completely simulating human joint movement. The profiling robot system based on the pneumatic muscles is mainly composed of the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The waist joint is driven by a plurality of pneumatic muscles in a crossed mode, the hip joint, the knee joint and the ankle joint are driven by muscle groups of a pneumatic muscle assembly, the shoulder joint is driven by antagonistic muscles of pneumatic muscle groups, the elbow joint is driven by antagonistic muscles of single-joint and multi-joint pneumatic muscle groups, and the wrist joint is composed of pneumatic muscles connected in parallel. The profiling robot system is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

The invention relates to a humanoid robot based on pneumatics. The humanoid robot uses pneumatic muscles to simulate human muscles to drive knee joints, ankle joints, waist joints, neck joints, shoulder joints, elbow joints and wrist joints to move, and has the function of completely simulating human joint movement. The humanoid robot based on pneumatics is mainly composed of pneumatic claws, belt wheels, vertebrae, the pneumatic muscles, connecting pieces and a joint control system. A waist joint assembly is formed by connecting two layers of pneumatic muscle parallel platforms connected in series in parallel, and the shoulder joint is a spherical hinge composed of a pneumatic motor and a universal joint and provided with an active element and is combined with the pneumatic muscles to drive the joint. The elbow joints and the knee joints are driven by a group of flexible redundancy parallel connection composed of eight pneumatic muscles, the wrist joints and the ankle joints are driven by parallel connection pneumatic muscles, and the hip joints are driven by belt wheels driven by the pneumatic motors. The humanoid robot is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

The invention discloses a robot based on rigid and flexible pneumatic element fusion, a control system and a control method, and belongs to the technical field of robots. The robot is mainly composed of an air cylinder, pneumatic muscles, a lower bottom plate, side bones, middle bones, connecting rods, thigh side panels, shank side panels, pneumatic motors and a control system. The multiple air cylinders drive the chest joints to linearly move and rotate, and the multiple air cylinders of the shoulder joints drive the joints to rotate and assist the chest joints to move at the same time. The elbow joint is formed by combining a thin-wall air cylinder and two sets of four-bar mechanisms. The hip joints and the ankle joints are driven by multiple groups of pneumatic muscles on the outer sides and connected by one or more pneumatic muscles in the middle, so that the hip joints and the ankle joints can assist in driving and can also play a role of spherical hinges, and the knee joints are synergistically moved by two pneumatic muscles. The mechanical arm is driven by the pneumatic muscle and the air cylinder, has the characteristics of rigidity and flexibility, multiple degrees of freedom and large working space, and can be used for commercial services such as teaching demonstration, industrial automatic production lines, catering and ordering and the like.