Pneumatic artificial muscle driven bionic arm

Abstract

The invention belongs to the technical field of bionic robots, and particularly relates to a pneumatic artificial muscle driven bionic arm. The arm comprises a large arm, an elbow joint, a small arm,a wrist joint, a hand, an elbow joint flexion and extension drive mechanism, a wrist joint flexion and extension drive mechanism, a wrist joint self-rotation drive mechanism and a finger flexion and extension drive mechanism; the elbow joint flexion and extension drive mechanism is arranged in the large arm, and is used for providing power for flexion and extension of the elbow joint, the wrist joint flexion and extension drive mechanism is arranged in the small arm, and is used for providing power for flexion and extension of the wrist joint, and underactuation is formed; the wrist joint self-rotation drive mechanism is arranged in the small arm, and is used for providing power for self rotation of the wrist joint; the finger flexion and extension drive mechanism is arranged in the wristjoint and is used for providing power for flexion and extension of the five fingers. The bionic arm is simple and compact in structure, flexible transmission is adopted, the mass is small, the cost islow, modular design is achieved, detaching and replacing are easy, and the beneficial effects of being high in integration, multiple in freedom degree, small and exquisite, flexible, similar to the arm of the adult, good in stability and the like are achieved.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, in particular to a bionic arm driven by pneumatic artificial muscles. Background technique [0002] The ultimate goal of humanoid robot research and development is to serve human beings, and the realization of the target operation of the manipulator can help humanoid robots better serve human beings. Therefore, the design of the arm mechanism is the key technology of robot research and development, and as the basic component of the robot mechanical system, the drive plays a vital role. Different from traditional actuators, pneumatic artificial muscles, as a new type of robot actuator, are increasingly showing a good application development trend due to their advantages such as simple and compact structure, light weight, good flexibility, safe and convenient use, and unique bionic properties. With the continuous deepening of research on pneumatic muscles, it has attracted more and more atte...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing bionic arms are driven by motors, which have high rigidity and bulky appearance, and have great defects in compliance and safety.

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