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

A hybrid drive, artificial muscle technology, applied in the field of humanoid robotic arms, can solve problems such as transmission error, power density reduction, drive system limitation, etc., and achieve the effects of good flexibility, large power density ratio, and strong safety.

Active Publication Date: 2017-01-25
NORTHEASTERN UNIV LIAONING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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

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Embodiment Construction

[0023] Figure 1 is a schematic diagram of the structure of a humanoid robotic arm driven by a variety of artificial muscles. The humanoid arm is composed of a pan-tilt, a PAM bionic elbow joint, an SMA bionic wrist joint, and an IPMC bionic hand. Among them, the fixed platform 25 of the PAM bionic elbow joint is connected with the upper part 3 of the platform through the shaft 26, and through the motor 1 and the motor 4, cooperates with the gear transmission 27, so that the whole mechanical arm can realize the pitch and deflection motion; the bionic elbow joint motion platform 9 It is fixedly connected with the wrist support 24 of the wrist joint by bolts; the SMA bionic wrist joint motion platform 21 is fixedly connected with the inner palm board 10 of the IPMC bionic hand by threads.

[0024] The PAM bionic elbow joint requires a total of 7 Hooke hinges 6, of which 3 Hooke hinges 6 are placed on the fixed platform 25 in the shape of an equilateral triangle, and the other 3 Ho...

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Abstract

The invention discloses a humanoid robotic arm based on mixed driving of multiple artificial muscles. It includes a motor-driven gimbal, a pneumatic muscle (PAM) bionic elbow joint, a shape memory alloy (SMA) bionic wrist joint, and an IPMC bionic hand. The shoulder joint has 2 degrees of freedom in rotation; the elbow joint has 3 degrees of freedom in rotation; the wrist joint has 2 degrees of freedom in rotation; the bionic hand contains 4 fingers and 11 degrees of freedom, so the robotic arm has a total of 18 degrees of freedom. The gimbal and the elbow joint are connected through a shaft, the elbow joint and the wrist joint are connected through three bolts, and the wrist joint and the bionic hand are connected through threads. Compared with motor-driven robotic arms of the same specifications, this robotic arm has the advantages of simple structure, high power density ratio, good safety, and strong flexibility. By imitating the skeletal-muscular system of the human upper limb, the robotic arm has better flexibility and Biomimetic features. The invention can be widely used in fields such as home services, rehabilitation medical care, disaster relief and rescue, and material transportation.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J15/10B25J17/00
Inventor 郝丽娜杨辉陈洋赵亮亮
Owner NORTHEASTERN UNIV LIAONING
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