Humanoid upper limbs based on pneumatic muscles

Abstract

The invention discloses a humanoid upper limb based on pneumatic muscle. The pneumatic muscle simulates human muscle for driving a shoulder joint, an elbow joint and a wrist joint to move, and the function of completely simulating the motion of the upper limb of a person is achieved. The humanoid upper limb is composed of a rib, a vertebra, a shoulder blade, a humerus, a fibula, an ulna, a spherical hinge, the pneumatic muscle and a pneumatic muscle fixing plate; the pneumatic muscle of a humanoid upper limb girdle muscle drives the shoulder joint to retract and stretch, bend and extend, inwards rotate and outwards rotate; arm muscle drives the elbow joint to bend and extend, inwards rotate and outwards rotate, and meanwhile the arm muscle and the upper limb girdle muscle cooperatively drive the shoulder joint to inwards retract, outwards stretch, inwards rotate and outwards rotate; and forearm muscle drives the wrist joint to bend and extend and retract and stretch and drives the elbow joint to bend and extend, inwards rotate and outwards rotate. The humanoid upper limb is driven by the pneumatic muscle, has the beneficial effects of being compact in structure, clean and good in anti-explosion performance, and can be used for teaching demonstration, medicinal diagnosis and scientific research.

Description

technical field [0001] The invention belongs to the technical field of bionic robots and relates to a humanoid upper limb based on pneumatic muscles. Background technique [0002] The human upper limb muscles are distributed in a staggered manner. During different posture movements and movement processes, each muscle plays the role of isobarism, isotonicity and isometric length respectively, and each muscle coordinates to complete complex movement output force and spatial posture movement. [0003] In order to better understand the role of each muscle in the upper limb movement, it is necessary to study the muscle distribution of the upper limb. Because it is controlled by the nervous system, it is not easy to analyze it. Pneumatic muscles are similar to the flexibility of human muscles, so there is Necessary for biomimetic simulation studies with pneumatic muscles. Most of the bionic upper limbs are limited to the form of driving pneumatic muscles, which can only realize s...

AI Technical Summary

Problems solved by technology

Most of the bionic upper limbs are limited to the form of pulling pneumatic muscles, which can only realize simple movements, and cannot realize the control of multi-directional postures in the system space, let alone simulate the actual muscle distribution of the human upper limbs.

Chinese patents 201621016784.8, 201110069372.6, and 201510434010.0 all propose humanoid upper limbs based on pulling pneumatic muscles, which cannot simulate the actual distribution of human upper limb muscles. Chinese patent 201510311779.3 proposes three muscles in parallel to simulate human muscle distribution, which cannot simulate actual muscles. Distribution

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