Pneumatic-based humanoid robot system

Abstract

The invention relates to a pneumatic-based humanoid robot system. Upper limb joints are connected with a waist joint, and lower limb joints are symmetrically arranged below the waist joint; one side of a shoulder joint support of the upper limb joints is rotatably connected with a first shoulder joint cylinder, a second shoulder joint cylinder and a third shoulder joint cylinder, the other side ofthe should joint support of the upper limb joints is rotatably connected with a fourth shoulder joint cylinder, a fifth shoulder joint cylinder and a sixth shoulder joint cylinder, the first shoulderjoint cylinder, the second shoulder joint cylinder and the third shoulder joint cylinder are rotatably connected with a shoulder joint tail end plate, the fourth shoulder joint cylinder, the fifth shoulder joint cylinder and the sixth shoulder joint cylinder are rotatably connected with a connecting shoulder joint tail end plate on the other side, each connecting shoulder joint tail end plate isfixedly connected with a first elbow joint side plate and a second elbow joint side plate, a cylinder body of each swing cylinder I is fixed to each elbow joint side plate I, and a rotating shaft of each swing cylinder I is fixed to a second pulley. The pneumatic-based humanoid robot system is compact in structure, multiple in degrees of freedom, rigid and flexible in combination and large in working space and avoids joint singularity.

Description

technical field [0001] The invention relates to the technical field of bionic robot equipment, in particular to a pneumatic humanoid robot system with compact structure, many degrees of freedom, combination of rigidity and flexibility, large working space and avoiding joint singularity. Background technique [0002] As a machine that works collaboratively with humans, a robot integrates machinery, electricity, algorithms, computer programs, and multi-sensor fusion technology. It is a kind of interdisciplinary research based on multiple disciplines. The level of science and technology and the level of industrial base. [0003] Pneumatic technology is inexhaustible due to its cleanliness, good explosion-proof performance, especially the reliable industrial components provided by pneumatic companies represented by FESTO, SMC and AirTAC, which ensure the wide application of pneumatic technology in the industrial field. The main components of pneumatic components are cylinders, ...

AI Technical Summary

Problems solved by technology

[0005] Due to the regular distribution of cylinders in parallel, during joint motion, the motion work space is limited due to singularity, and joint rigid-flexibility is not considered. In addition, there are no robot joints and humanoid robots related to parallel cylinders.

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