Orthorhombic three-freedom joint driven by pneumatic artificial muscles

Abstract

The invention discloses an orthorhombic three-freedom joint with relatively high integration driven by pneumatic artificial muscles. The orthorhombic three-freedom joint comprises a hooke joint mechanism consisting of an X-axis bracket, a Y-axis bracket and a cross shaft, wherein an Z-axis bracket is arranged on the top of the Y-axis bracket; a steering mechanism is arranged on the Z-axis bracket; a tail end performer is arranged on the top of the Z-axis bracket; artificial muscles are arranged at one sides of the steering mechanism, the X-axis mechanism and the Y-axis mechanism; ends of the artificial muscles are connected with the bracket through a nut, and the other ends of the artificial muscles are connected with a transmission rope; the transmission rope is vertically nested on the tail end performer and the shaft shoulder of the cross shaft through the steering mechanism. The orthorhombic three-freedom joint realizes three-freedom orthogonality, simplifies motion equation, improves the control speed, strengthens the joint flexibility and expands joint working sace.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to an orthogonal three-degree-of-freedom joint driven by a pneumatic artificial muscle that can be used as a neck, shoulder or wrist joint of a robot. Background technique [0002] Pneumatic artificial muscle is a new type of drive, which combines the advantages of pneumatic drive and artificial muscle drive. The advantages of pneumatic drive are clean and pollution-free, easy to install, and because of its compressibility, the end effector has natural compliance when grasping or clamping objects, which can prevent excessive force from executing on the grasped object or the end. damage to the device itself. As a new type of driving device, artificial muscle is a bionic product with small size, softness, light weight, simple work and easy control. It has a very high power / weight ratio and very good natural compliance. These characteristics make Artificial muscles ...

AI Technical Summary

Problems solved by technology

Some of the three-DOF joints formed in this way have a large volume and a relatively small working space, and the origin of the three-DOF motion coordinate system of some joints is not at the same point, which is significantly different from the real human three-DOF joint motion form. , the degree of simulation is not high

[0004] At present, humanoid motion joints driven by artificial muscles generally have one or two degrees of freedom, and there is no three-degree-of-freedom structure integrated in one module, and the use of several degrees of freedom in series will make the overall joint volume large, and the driver Layout and member interference are also key factors

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