Soft manipulator based on pneumatic artificial muscles

Abstract

The invention discloses a soft manipulator based on pneumatic artificial muscles,which comprises a manipulator mechanism and an air circuit control system. The manipulator mechanism comprises a manipulator fixing platform, an elbow joint, a manipulator lower arm, a manipulator upper arm and a wrist joint; the air circuit control system comprises an air source device, pneumatic triple pieces, a pressure-reducing valve, a proportional pressure valve, an electromagnetic valve, a pneumatic artificial muscle, a data collecting card and a computer. The pneumatic muscle actuator based soft manipulator researches and develops a pneumatic muscle manipulator based on the working characteristics of a human arm structure and the pneumatic artificial muscle, uses the flexibility advantage of the pneumatic artificial muscle to solve a plurality of weaknesses of the modern robot, researches and develops a humanized manipulator mechanism and a corresponding air circuit control system, and adopts the pneumatic artificial muscle as a driver to widen the research field of the manipulator. The soft manipulator based on pneumatic artificial muscle has the advantages of novelty, flexibility, simple structure and easy controlling and the like, and can meet the requirements on the manipulator properties in the field of bionic robots and rehabilitant robots and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a flexible manipulator based on pneumatic artificial muscles. Background technique [0002] Among various types of robots, the articulated robot composed of simulated human arms has the advantages of simple structure, small space occupation, and relatively large space, and is one of the most widely used robots. For the convenience of control, the rigidity of the robot arm is very high. Therefore, this type of robot has the characteristics of thick base, strong waist, and strong structure, which makes people who approach it feel dangerous. At the same time, the weight of the robot is too large compared with the work object. With the continuous development of robot technology, people not only hope that the robot has the characteristics of high precision, fast response, and large carrying capacity, but also can show good compliance, especially in the field of bionic robots and rehabilitation robots, peop...

AI Technical Summary

Problems solved by technology

[0003] There are some shortcomings in the existing robot driving device, for example: due to the large number of mechanisms used, a large amount of energy is consumed to overcome the friction between the mechanisms during the transmission process, so that the energy at the output end is much lower than the energy generated at the input end; The structure of the device is complex and the external volume is large, which affects the flexibility of use

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