Bionic manipulator based on drive of electromagnetic muscles and tendons

Abstract

The invention discloses a bionic manipulator which mainly comprises a palm (1), a thumb (2), fingers (3), muscles (4), tendons (5), driving motors (6), gears (7), rotating wheels (8) with gears, a manipulator surface (9), tendon position fixing rings (10) and muscle fixing rings (11). Each tendon (5) is wound around two ends of the corresponding rotating wheel (8) to be respectively connected to ends of the upper surface and the lower surface of the corresponding finger (3). Each rotating wheel (8) rotates to drive the corresponding tendons (5) on the upper surface and the lower surface of the rotating wheel (8) so as to change the lengths of the tendons (5), and various sections of the corresponding finger (3) are bent under the restraining action of the corresponding tendon position fixing rings (10). When the manipulator is required to act simply, only the tendons (5) need to be driven; and when the manipulator is required to grasp an article, the tendons (5) and the muscles (4) are driven simultaneously to work in a coordination manner (timing can be mastered by the aid of pressure sensors). When the manipulator grasps the article, each finger (2) with second-type joints is connected with the palm (1) by a spherical hinge, and the opening of each finger (2) is adjusted by contraction force of the corresponding muscles (4) on two sides of the finger (2), so that the manipulator is adaptive to the shape of the article. The thumb (2) can move in multiple directions by the aid of the corresponding muscles (4) in front, rear, left and right directions.

Description

technical field [0001] The invention relates to a bionic manipulator, in particular to a bionic manipulator driven by electromagnetic muscles and tendons. Background technique [0002] Humanoid robot is a hotspot in the current robotics research, and the complexity of the hand structure is the most prominent in the human body structure. In the current research, people generally use linear drives such as pneumatics and hydraulics as the driving method. The design of the manipulator structure of this driving method is relatively mature, but there are few manipulator structures designed based on the characteristics that electromagnetic muscles can contract and provide tension in a bent state. . At the same time, the bionic feature of the human hand's tendon contraction to drive the bending action is rarely involved in practical applications, let alone a manipulator with coordinated work of tendons and muscles. With the development of superconducting materials, the efficiency ...

AI Technical Summary

Problems solved by technology

In the current research, people generally use linear drives such as pneumatics and hydraulics as the driving method. The design of the manipulator structure of this driving method is relatively mature, but there are few manipulator structures designed based on the characteristics that electromagnetic muscles can contract and provide tension in a bent state.

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