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Profiling robot system based on pneumatic muscles

A robot system and pneumatic muscle technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems that can not reflect the movement characteristics of human joints and muscles more realistically

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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  • Profiling robot system based on pneumatic muscles
  • Profiling robot system based on pneumatic muscles
  • Profiling robot system based on pneumatic muscles

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] A profiling robot system based on pneumatic muscles, comprising: a waist joint 2, upper limb joints 1 that are mirror images of each other are arranged on both sides of the waist joint 2, and lower limb joints 3 that are mirror images of each other are arranged on the lower part;

[0043] The lumbar joint upper side plate 4 of the lumbar joint 2, the middle pillar one 10, the middle pillar two 11, and the middle pillar three 12 are rotatably connected in sequence, the middle pillar three 12 is fixedly connected with the waist joint lower side plate 9, the middle pillar one 10, the middle pillar Pneumatic muscle connector one 5, pneumatic muscle connector two 6, pneumatic muscle connector five 13, pneumatic muscle connector six 14 are arranged between pillar two 11, described pneumatic muscle connector one 5, pneumatic muscle connector two...

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Abstract

The invention relates to a profiling robot system based on pneumatic muscles. The profiling robot system uses the pneumatic muscles to simulate human 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 profiling robot system based on the pneumatic muscles is mainly composed of the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The waist joint is driven by a plurality of pneumatic muscles in a crossed mode, the hip joint, the knee joint and the ankle joint are driven by muscle groups of a pneumatic muscle assembly, the shoulder joint is driven by antagonistic muscles of pneumatic muscle groups, the elbow joint is driven by antagonistic muscles of single-joint and multi-joint pneumatic muscle groups, and the wrist joint is composed of pneumatic muscles connected in parallel. The profiling robot system 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 bionic robot equipment, in particular to an aerodynamic muscle-based profiling robot system with compact structure, good flexibility and various aerodynamic 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, applicatio...

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敖康李心雨刘亿尹弟
Owner JIAXING UNIV
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