A humanoid robotic arm based on hybrid drive of multiple artificial muscles

Abstract

The invention discloses a human-simulated mechanical arm based on hybrid driving of various artificial muscles, which comprises a motor driving cradle head, a pneumatic muscle (PAM) bionic elbow joint, a shape memory alloy (SMA) bionic wrist joint and an IPMC bionic hand, wherein a shoulder joint has two rotational degrees of freedom; the elbow joint has three rotational degrees of freedom; the wrist joint has two rotational degrees of freedom; and the bionic hand has four fingers and eleven degrees of freedom, so that the mechanical arm has eighteen degrees of freedom. The cradle head is connected with the elbow joint through a shaft, the elbow joint is fixedly connected with the wrist joint through three bolts, and the wrist joint is fixedly connected with the bionic hand through a screw thread. Compared with a motor driving mechanical arm with the same specifications, the mechanical arm disclosed by the invention has the advantages of simple structure, high power-density ratio, good safety, high flexibility and the like, and the mechanical arm is enabled to have better flexibility and bionics characteristics through simulating a bone-muscle system of an upper limb of the human body. The human-simulated mechanical arm disclosed by the invention can be widely applied to the fields of home services, rehabilitation therapy, risk elimination and rescue, material handling and the like.

Description

technical field [0001] The invention relates to a humanoid mechanical arm based on mixed driving of various artificial muscles, which belongs to the fields of robotics, bionics and intelligent materials. Background technique [0002] Robotic arms that imitate the functions of human arms are currently being used in military, medical and service fields. They can not only replace humans in dangerous environments, but also help disabled people complete their daily activities. However, at present, the driving device of the humanoid manipulator mainly adopts the scheme of the cooperation of the motor and the reduction mechanism, and the multi-degree-of-freedom movement of the robot is realized by the linkage of multiple motors, which greatly increases the weight of the robot, reduces the safety, and makes the transmission mechanism more efficient. complication. In terms of improving the power density ratio of the manipulator drive device, domestic and foreign researches are mainl...

AI Technical Summary

Problems solved by technology

However, due to the rapid decrease of the power density of traditional motors with the reduction of volume, and the existence of transmission errors and friction, it is limited in improving the power density and overall response performance of the drive system.

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