Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Seven freedom-degree artificial man arm driven by air-powered artificial muscle

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: 2011-08-31
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF2 Cites 0 Cited by
  • 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 the humanoid arm, its size is larger than that of a human hand, its grip is small, and its mechanism is complicated

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Seven freedom-degree artificial man arm driven by air-powered artificial muscle
  • Seven freedom-degree artificial man arm driven by air-powered artificial muscle
  • Seven freedom-degree artificial man arm driven by air-powered artificial muscle

Examples

Experimental program
Comparison scheme
Effect test

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 t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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 musclesor 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00
Inventor 王毅枫彭光正
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com