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Three-freedom-degree leg mechanism driven by pneumatic artificial muscle

A technology of pneumatic artificial muscles and degrees of freedom, applied in the field of bionic robots, can solve the problems of restricting the motion performance and application of quadruped robots, poor bionic effect, and the weight of the robot itself, so as to avoid mutual constraints, reduce weight, and have a simple and compact structure. Effect

Inactive Publication Date: 2014-08-20
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

From the perspective of the driving mode of the quadruped robot leg mechanism, the common driving modes include motors, hydraulic cylinders, cylinders, etc., and there are shortcomings such as the robot itself is relatively heavy and the bionic effect is poor, which restricts the motion performance and application of quadruped robots.

Method used

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  • Three-freedom-degree leg mechanism driven by pneumatic artificial muscle
  • Three-freedom-degree leg mechanism driven by pneumatic artificial muscle
  • Three-freedom-degree leg mechanism driven by pneumatic artificial muscle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] Such as figure 1 As shown, the 3-DOF leg mechanism driven by the pneumatic artificial muscle includes the hip joint side swing mechanism ( ), hip swing mechanism ( ) and knee joint forward and backward swing mechanism ( ). It is characterized in that: the hip joint side swing mechanism ( ) the left end is hinged with the body and the right end has a side swing connecting rod (3) and the hip joint front and rear swing mechanism ( ) is fixedly connected with a forward and backward swing T-shaped shaft (26) at the upper end; the hip joint forward and backward swing mechanism ( ) lower end and knee joint forward and backward swing mechanism ( ) is fixedly connected to each other, and the front and rear swing T-shaped shaft (26) is connected to the knee joint front and rear swing mechanism ( ) The upper end of the rotation connection; the hip joint side swing mechanism ( ), the hip joint forward and backward swing mechanism ( ) and knee joint forward and ba...

Embodiment 2

[0026] see Figure 1~Figure 7 , the present embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0027] The hip joint side swing mechanism ( ) includes pneumatic artificial muscle assembly A, pin (1), pin (2), side swing connecting rod (3), pin (4), right spring connector (5), spring armor (6), left spring connector ( 7) and pins (8), the left end of the pneumatic artificial muscle assembly A is rotationally connected with the body through the pin (1), and the right end is rotationally connected with the side swing connecting rod (3) through the pin (2); the spring armor (6) The left and right ends are respectively fixedly connected with the left spring connector (7) and the right spring connector (5); the left spring connector (7) is connected with the body through the pin (8); the right spring connector (5) is connected through the pin ( 4) Rotately connected with the connecting rod (3); the pneumatic artificial muscle component A i...

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Abstract

The invention relates to a three-freedom-degree leg mechanism driven by pneumatic artificial muscle, and belongs to the technical field of biomimetic robots, and the three-freedom-degree leg mechanism can be used for a biomimetic robot. The three-freedom-degree leg mechanism comprises a hip joint side-sway mechanism, a hip joint back-forth-sway mechanism and a knee joint back-forth-sway mechanism. The left end of the hip joint side-sway mechanism is connected with a machine body in a hinged mode, and the right end of the hip joint side-sway mechanism is provided with a side-sway connecting rod which is fixedly connected with a back-forth-sway T-shaped shaft at the upper end of the hip joint back-forth-sway mechanism; the lower end of the hip joint back-forth-sway mechanism is fixedly connected with the middle of the knee joint back-forth-sway mechanism, and the back-forth-sway T-shaped shaft is connected with the upper end of the knee joint back-forth-sway mechanism in a rotating mode through a pin bolt; The hip joint side-sway mechanism, the hip joint back-forth-sway mechanism and the knee joint back-forth-sway mechanism are internally provided with pneumatic artificial muscle assemblies and are driven by the pneumatic artificial muscle assemblies to rotate. According to the three-freedom-degree leg mechanism driven by pneumatic artificial muscle, the three joints are driven by pneumatic artificial muscle, so that three-freedom-degree high-speed motion of a leg mechanism is achieved, and the three-freedom-degree leg mechanism has the advantages of being light in weight, compact in structure, flexible in motion and the like.

Description

technical field [0001] The invention relates to a 3-degree-of-freedom leg mechanism driven by pneumatic artificial muscles, which can be used for quadruped bionic robots and belongs to the technical field of bionic robots. Because the mechanism of the invention is driven by pneumatic artificial muscles, the weight of the robot leg mechanism can be reduced, high-speed movement can be realized, and it has the characteristics of light weight, compact structure, flexible movement, flexible bionics and the like. Background technique [0002] With the development of robotics and bionics, the research focus of quadruped robots has gradually expanded from static walking to dynamic walking, jumping, running and other movements. Researchers at home and abroad have developed a variety of quadruped robots, and have achieved rich research results. Some robots have been able to realize dynamic walking and running in an unstructured environment. However, compared with living thing...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 雷静桃吴建东俞煌颖
Owner SHANGHAI UNIV
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