A robot joint driven by imitation muscle

Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of bionic robot joints, and in particular relates to a robot joint driven by imitation muscles, which is composed of a double-crank slider mechanism and is similar to human muscle resistance driving characteristics. Background technique [0002] Human joints have the characteristics of flexible movement, light weight and high output force. The robot joints driven by parallel confrontation are more and more paid attention to by researchers because the driving mode is consistent with the principle of human joint action, and it is convenient to simulate the action characteristics of human joints. How to make robot joints imitate the action principle and action characteristics of human joints to the greatest extent, so that they have similar functional characteristics to human joints, has always been the goal of researchers. Among the robot joints that have emerged in recent years using parallel confrontation d...

AI Technical Summary

Problems solved by technology

[0003] 1. The robot joint is based on the parallel counter-driven pneumatic artificial muscles. The joint uses two pneumatic artificial muscles to provide the driving force. The driving force is large but the positioning accuracy is low, and it is easy to generate vibration during the movement

[0004] 2. The robot joint based on the parallel counter-drive of the rotating motor is characterized by large driving force and high precision, but the structure of the joint part is relatively complicated and a winding device needs to be installed

[0005] 3. The robot joint based on the piezoelectric actuator parallel counter-driven, although the joint has the advantages of simple structure and small size, but the driving force is also small, so it is only suitable for driving small joints

[0006] The above three types of existing robot joint mechanisms still have many limitations in imitating human joint movements.

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