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Humanoid robot based on pneumatics

A humanoid robot and pneumatic muscle technology, applied in the field of pneumatic-based humanoid robots, can solve problems such as the inability to truly reflect the motion characteristics of human joints and muscles, and achieve compact structure, good flexibility, and high power/mass ratio. Effect

Inactive Publication Date: 2021-05-11
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Only designing a single flexible parallel joint and a single rigid parallel series humanoid robot joint, and only driving the joint in the form of parallel connection of actuators, cannot truly reflect the motion characteristics of human joint muscles

Method used

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  • Humanoid robot based on pneumatics
  • Humanoid robot based on pneumatics
  • Humanoid robot based on pneumatics

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] A humanoid robot based on pneumatics, comprising: a camera 1, the camera 1 is rotatably connected to the waist joint 3, the two sides of the waist joint 3 are rotatably connected to upper limb joints 2 which are mirror images of each other, and the lower part of the waist joint 3 is rotatably connected to each other The mirrored lower limb joint 4, the camera 1 and the waist joint 3, and the upper limb joint 2 and the waist joint 3 are respectively connected by air motors. The housings of the air motors are respectively fixed on the waist joint 3, and the rotors of the air motors are respectively fixed on the camera. 1 and upper limb joint 2;

[0048] The thoracic structural member 9, vertebra one 10, vertebra two 11, vertebra three 12, vertebra four 13, vertebra five 14, vertebra six 15, vertebra seven 16, vertebra eight 17, and pelvis ...

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Abstract

The invention relates to a humanoid robot based on pneumatics. The humanoid robot simulates human muscles by using pneumatic muscles to drive a hip joint, a knee joint, an ankle joint, a waist joint, a shoulder joint, an elbow joint and a wrist joint to move, and has a function of completely simulating human joint movement. The humanoid robot based on pneumatics is mainly composed of pelvis, ribs, vertebrae, pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The bones of the waist joint are constructed by vertebrae, ribs, chest structural members and pelvis, and the waist joint is driven to move by the long pneumatic muscles, the middle pneumatic muscles and the short pneumatic muscles; and single-joint pneumatic muscles and multi-joint pneumatic muscles in the lower limb joints are combined, and the multi-joint pneumatic muscles and the multi-joint pneumatic muscles are combined in a crossed mode to drive the lower limb joints to move. The humanoid robot is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of robot equipment, in particular to a pneumatic-based humanoid robot with compact structure, good flexibility and various pneumatic muscle states. Background technique [0002] Soft robot is a new type of soft robot, which can adapt to various unstructured environments, and can flexibly bend and twist. Even if it is impacted by the outside world, it will not produce a large collision or impact. hotspots. [0003] At present, most soft robots are designed to imitate various creatures in nature. Pneumatic muscles have the characteristics of isobaric, isotonic, and isometric due to their similar characteristics to human muscles; With carbon dioxide, the pneumatic muscle moves by controlling the inflation and deflation of the pneumatic valve, so the pneumatic muscle can be better used in the design of soft robots. [0004] CN110936367B, application number: 201911082363.3, application date: 2019-11-07, disclos...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/1075B25J17/0208
Inventor 姜飞龙曹坚钱苏翔胡红生杨琴张海军汪斌朱海滨刘睿莹杨德山欧阳青宋玉来钱承殷小亮赵伟陈晟周丽朱荷蕾许聚武杨立娜沈剑英崔文华程树群李伟荣何琳章璇董睿伊光武陈军委李心雨刘亿尹弟敖康
Owner JIAXING UNIV
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