Soft manipulator based on pneumatic artificial muscles

A pneumatic artificial muscle and manipulator technology, applied in the field of robotics, can solve the problems of complex structure of the driving device, affecting flexibility, large external volume, etc., and achieve the effect of simple structure, simple mechanism and small volume

Inactive Publication Date: 2009-10-28
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There are some shortcomings in the existing robot driving device, for example: due to the large number of mechanisms used, a large amount of energy is consumed to overcome the friction between the mechanisms during the

Method used

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  • Soft manipulator based on pneumatic artificial muscles
  • Soft manipulator based on pneumatic artificial muscles
  • Soft manipulator based on pneumatic artificial muscles

Examples

Experimental program
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Embodiment Construction

[0014] Such as figure 1 , 2 As shown, the flexible manipulator based on pneumatic artificial muscles includes a manipulator mechanism and an air circuit control system. The manipulator mechanism includes an elbow joint 12, a manipulator fixed platform 13, a manipulator lower arm 14, a manipulator upper arm 15, and a wrist joint 16. One end of upper arm 15 is connected, and the other end of manipulator upper arm 15 is connected with an end of manipulator lower arm 14 through elbow joint 12, and the other end of manipulator lower arm 14 is provided with wrist joint 16, and manipulator lower arm 14 and manipulator upper arm 15 are respectively arranged. There are first pneumatic artificial muscle 6, second pneumatic artificial muscle 7, third pneumatic artificial muscle 8, and fourth pneumatic artificial muscle 9; the air circuit control system includes air source device 1, pneumatic triple unit 2, pressure reducing valve 3, proportional Pressure valve 4, solenoid valve 5, first...

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Abstract

The invention discloses a soft manipulator based on pneumatic artificial muscles,which comprises a manipulator mechanism and an air circuit control system. The manipulator mechanism comprises a manipulator fixing platform, an elbow joint, a manipulator lower arm, a manipulator upper arm and a wrist joint; the air circuit control system comprises an air source device, pneumatic triple pieces, a pressure-reducing valve, a proportional pressure valve, an electromagnetic valve, a pneumatic artificial muscle, a data collecting card and a computer. The pneumatic muscle actuator based soft manipulator researches and develops a pneumatic muscle manipulator based on the working characteristics of a human arm structure and the pneumatic artificial muscle, uses the flexibility advantage of the pneumatic artificial muscle to solve a plurality of weaknesses of the modern robot, researches and develops a humanized manipulator mechanism and a corresponding air circuit control system, and adopts the pneumatic artificial muscle as a driver to widen the research field of the manipulator. The soft manipulator based on pneumatic artificial muscle has the advantages of novelty, flexibility, simple structure and easy controlling and the like, and can meet the requirements on the manipulator properties in the field of bionic robots and rehabilitant robots and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a flexible manipulator based on pneumatic artificial muscles. Background technique [0002] Among various types of robots, the articulated robot composed of simulated human arms has the advantages of simple structure, small space occupation, and relatively large space, and is one of the most widely used robots. For the convenience of control, the rigidity of the robot arm is very high. Therefore, this type of robot has the characteristics of thick base, strong waist, and strong structure, which makes people who approach it feel dangerous. At the same time, the weight of the robot is too large compared with the work object. With the continuous development of robot technology, people not only hope that the robot has the characteristics of high precision, fast response, and large carrying capacity, but also can show good compliance, especially in the field of bionic robots and rehabilitation robots, peop...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J18/04B25J19/00
Inventor 金英子王阶刘爽朱红亮金绥
Owner ZHEJIANG SCI-TECH UNIV
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