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Humanoid robot system based on pneumatic muscles and air cylinders

A robotic system, pneumatic muscle technology, applied in the field of robotics, can solve problems such as no joint muscle distribution

Inactive Publication Date: 2018-08-31
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Chinese patent 201810258382 first proposed a humanoid robot based on cylinders, which functionally simulates the rotation of human joints, but does not truly simulate the distribution of certain joint muscles of the human body

Method used

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  • Humanoid robot system based on pneumatic muscles and air cylinders
  • Humanoid robot system based on pneumatic muscles and air cylinders
  • Humanoid robot system based on pneumatic muscles and air cylinders

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Embodiment Construction

[0027] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0028] Such as Figure 1-5 As shown, a humanoid robot system based on pneumatic muscles and cylinders, it includes skull 1, chest, waist joint, left upper limb, right upper limb, left lower limb and right lower limb;

[0029] Described chest comprises back vertebra one 2, back vertebra two 3, back vertebra three 4, back vertebra four 5, back vertebra five 11, back vertebra six 13, front vertebra one 17, front vertebra two 20, front vertebra three 21, The first layer of left ribs 12, the first layer of...

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Abstract

The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The humanoid robot system is driven by the pneumatic muscles and the air cylinders at the same time and has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for exhibition, meeting and teaching demonstration.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a humanoid robot system based on pneumatic muscles and cylinders. Background technique [0002] Because the humanoid robot is similar to human beings in appearance, it can replace human beings in dangerous and heavy work and integrate into human work and coordinate work with human beings in life. Motor-driven robots have larger inertia and greater rigidity at the motor-driven joints. Both the compliance and rigidity of pneumatically driven robots can be adjusted by adjusting the air pressure. There are two commonly used components in pneumatics: pneumatic muscles have good compliance and can be used to design humanoid flexible redundant joints; cylinders have a large range of motion and multiple The joints connected in parallel with the root cylinder can have degrees of freedom of rotation and movement at the same time, and can freely switch between the degrees of fre...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/14B62D57/032
CPCB25J9/0006B25J9/144B62D57/032
Inventor 姜飞龙朱海滨刘睿莹张海军戴婷殷小亮朱荷蕾宋玉来钱承杨立娜
Owner JIAXING UNIV
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