Soft robot system based on pneumatic muscles and ropes

A robotic system, pneumatic muscle technology, applied in the field of robotics, can solve problems such as the limitation of robot movement degrees of freedom

Inactive Publication Date: 2022-05-10
JIAXING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As the main components, soft components such as pneumatic muscles and ropes are indispensable in the design of soft robots, but soft components only provide tension in the direction of a single degree of freedom, which requires them to drive joints in the form of groups of antagonistic muscles, and The robot's freedom of movement is limited, which is also a major bottleneck in the development of soft robots

Method used

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  • Soft robot system based on pneumatic muscles and ropes
  • Soft robot system based on pneumatic muscles and ropes
  • Soft robot system based on pneumatic muscles and ropes

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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 soft robot system based on pneumatic muscles and ropes, including: upper limb joint 1, waist joint 2, lower limb joint 3, left lower limb 3-1, right lower limb 3-2, vertebra one 4, chest connector 5, vertebra two 6 , vertebra three 7, vertebra four 8, vertebra five 9, vertebra six 10, vertebra seven 11, vertebra eight 12, waist connector 13, first rib layer 14, rib second layer 15, rib third layer 16, rib third layer Fourth floor 17, long aerodynamic muscle 1 18, long aerodynamic muscle 2 19, long aerodynamic muscle 3 20, long aerodynamic muscle 4 21, long aerodynamic muscle 5 22, long aerodynamic muscle 6 23, long aerodynamic muscle 7 24, long aerodynamic muscle 8 25. Middle pneumatic muscle 1 26, medium pneumatic muscle 2 27, medium pneumatic muscle 3 28, medium pneumatic muscle 4 29, medium pneumatic muscle 5 30, medium pneumatic mu...

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Abstract

The invention relates to a soft robot system based on pneumatic muscles and ropes. Lower limb joints are arranged on the lower portion of a waist joint, upper limb joints are arranged on the two sides of the upper portion of the waist joint, the lower limb joints are a left lower limb and a right lower limb which are in mirror images, the upper limb joints are a left upper limb and a right upper limb which are in mirror images, and the left lower limb and the right lower limb of the lower limb joints are connected with feet respectively. The left upper limb and the right upper limb of the upper limb joint are respectively connected with the wrist joint plate, and the left lower limb and the left upper limb are identical in structure. Muscle group series-parallel connection bionics are vivid, the number of degrees of freedom is increased by combining with a mechanical structure, and the rope driving movement direction is flexibly switched and synchronously achieved based on pneumatic muscles and ropes.

Description

technical field [0001] The invention relates to the field of robot technology, in particular to a soft robot system based on pneumatic muscles and ropes, which is bionic and lifelike with mixed muscle groups, combined with a mechanical structure to increase the number of degrees of freedom, and the direction of movement driven by ropes can be switched flexibly and synchronized. Background technique [0002] Soft robots are soft, flexible, retractable, and programmable, and can adapt to complex environments while avoiding damage to robots due to collisions. Therefore, soft robots are an important branch of the robotics field. [0003] Alibaba Dharma Institute once predicted that the research and large-scale application of soft robots in the production line will replace the current rigid industrial robots, and will shorten the distance between service robots and humans; at the same time, soft robots can be used in the field of service robots, which will help to replace humans ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1075B25J9/104
Inventor 刘亿姜飞龙杨立娜沈剑英崔文华刘春元
Owner JIAXING UNIV
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