Device and method for replacing biological muscle functions with series-parallel relays

Abstract

The present invention belongs to the technical field of robot simulation, and in particular relates to a device for replacing biological muscle functions with series-parallel relays, including a relay module 1 for replacing muscles, a connecting rod 2 for replacing tendons, a rotating shaft 5 for replacing joints, and a packaging shell 3 for replacing skin , the relay module 1 includes one or more relays 11, the relays 11 are connected by rigid connectors 12 to form a relay module 1, and a plurality of relay modules 1 are also connected to each other by rigid connectors 12, and the rotating joint , the relay module 1 is connected to the rotating shaft 5 through the connecting rod 2, and the packaging shell 3 covers the outside of the relay module 1, the connecting rod 2, the rotating shaft 5 and the support rod 4. The invention also relates to a method for replacing the function of biological muscles by series-parallel relays. Compared with the traditional motor-driven mechanical rotation response, the invention has a wider application range, replaces muscle functions through series-parallel relay modules, and is more sensitive, stable, reliable and has a larger control range.

Description

technical field [0001] The invention belongs to the technical field of robot simulation, and in particular relates to a method and a device for replacing biological muscle functions with series-parallel relays. Background technique [0002] A basic requirement of designing a simulation robot is to enable the robot to complete basic human body movements. Taking the arm as an example, the muscles on the arm are divided into two parts, the muscle belly and the tendon. The muscle belly is composed of muscle fibers and has the ability to contract. The tendon is composed of dense connective tissue and has no contraction ability. The skeletal muscle relies on the tendon to attach to the bone. Under the traction of tendons, muscles can contract and drive different bones to move. [0003] The relay is a component that uses electromagnetic effects to realize the displacement of the armature. The relay module replaces the muscle belly, the connecting rod replaces the tendon, the rotat...

AI Technical Summary

Problems solved by technology

[0004] In the traditional mechanical arm design, the way of using the rotating shaft to drive the arm movement lacks flexibility and mechanical wear, and the material of artificial fiber muscles has low working strength. The method of using pneumatic artificial muscles requires an additional compressor to provide compressed air to drive the muscles. Movement, and the deformation of pneumatic artificial muscles is nonlinear, and its displacement is difficult to control accurately

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