Seven degrees of freedom copy man arm of air-powered artificial muscle drive

A pneumatic artificial muscle and degree of freedom technology, applied in the field of humanoid arm, can solve the problems of humanoid arm mechanism design difficulties, small grip force, complex mechanism, etc., and achieve compact structure design, large output force, and large movement space Effect

Inactive Publication Date: 2008-06-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The idea based on motor drive will inevitably bring great difficulties to the design of the mechanism of th...

Method used

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  • Seven degrees of freedom copy man arm of air-powered artificial muscle drive
  • Seven degrees of freedom copy man arm of air-powered artificial muscle drive
  • Seven degrees of freedom copy man arm of air-powered artificial muscle drive

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Experimental program
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Embodiment Construction

[0022] Depend on figure 1 , Figure 2A, Figure 2B , Figure 2C , image 3 and Figure 4 It shows that a seven-degree-of-freedom humanoid arm driven by pneumatic artificial muscles is mainly composed of a shoulder joint 1, an elbow joint 2, a wrist joint 3, an arm support frame 4, an upper arm 5, a forearm 6 and a flexible cable 7, wherein: Vertical plate 40, top plate 47 and base plate 48 constitute arm support frame 4, and are fixed with base 49, are fixed with pulley block support 46 on the top of vertical plate 40, by top shaft 15, front support block 11, back support block 12, top The disc 45, the pillar 43, the chassis 42 and the chassis shaft 41 are connected to form an integral structure, and are connected with the top plate 47 and the bottom plate 48 through ball bearings and thrust ball bearings, and rotate around the Z axis to drive the shoulder joint 1 to rotate around the Z axis The pneumatic artificial muscle 44 is directly fixed on the bottom plate 48 of the ...

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Abstract

A 7-dof anthropomorphic arm driven by the pneumatic artificial muscles mainly comprises a shoulder joint (1), an elbow joint (2), a wrist joint (3), an arm support frame (4), an upper arm (5), a front arm (6) and a flexible cable (7). The arm support frame (4) is fixed with a base (49) and the pneumatic artificial muscles (44) are arranged in the arm support frame; a steel wire (A1) connected with the pneumatic artificial muscles (44) realizes the rotation of the X, Y, Z shafts through the pulley blocks (B0), (B1), (B2), (B3), (B4) and (B5); the pneumatic artificial muscles (52) driving the elbow joint (2) and the wrist joint (3) to act are arranged in the upper arm (5) and directly operate and control an elbow shaft (21) through a rope (A2) connected with the pneumatic artificial muscles or are respectively attached on a wrist (32) and a palm (34) through a casing tube steel wire (A2) and a casing tube steel wire (A3) so as to realize the rotation round the front arm (6) and the lateral movement. The invention has the advantages of large output force, compliant operation and control, simple structure and small weight simple and easy use, maintenance and repair.

Description

technical field [0001] The invention relates to a humanoid arm, in particular to a humanoid robot arm driven by pneumatic artificial muscles. Background technique [0002] As robot technology matures day by day, its application fields continue to expand. One of the factors that plagued the development of humanoid arms is the drive. The rotational movement between the joints makes people naturally think of using the motor that also outputs the rotational movement as the power source of the humanoid arm. The idea based on motor drive is bound to bring great difficulties to the design of the mechanism of the humanoid arm. The actuator designed and developed based on the principle of biological muscle movement—pneumatic artificial muscle, has the characteristics of simple design, low cost, unique bionicity, high output force / weight ratio and good flexibility in recent years. It has received more and more attention in the field of robotics. Pneumatic artificial muscle is one ...

Claims

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Application Information

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IPC IPC(8): B25J18/00
Inventor 王毅枫彭光正
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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