The invention discloses a
muscle driving simulation robot joint, which belongs to the technical field of the biomimetic
robot joint. The invention particularly relates to the
muscle driving simulation robot joint which consists of a double-
crank sliding block mechanism and is similar to the
human muscle confrontation driving characteristic. The
muscle driving simulation robot joint has the advantages of flexible action, big
working space and simple structure and can be used for simulating the
human muscle rigidity nonlinear driving. The muscle driving
simulation robot joint comprises a rear
crank sliding block mechanism, a front
crank sliding block mechanism and a fixed
pulley, wherein the rear crank sliding block mechanism and the front crank sliding block mechanism are respectively provided with a fixedly-connected linear guide rail for a rack; the fixedly-connected linear guide rail for the rack is provided with a sliding block; the sliding block is connected with one end of a connecting rod; the rotating center of the rack is provided with the first end of a fixed shaft rotating crank; the other end of the connecting rod is connected with the
tail end of the fixed shaft rotating crank; the rotating center of the fixed
pulley is provided with the fixed
pulley; the fixed pulley is provided with a soft
rope; and two ends of the soft
rope are respectively connected with the junction of a rear fixed shaft rotating crank and a rear connecting rod as well as the junction of a front fixed shaft rotating crank and a front connecting rod.