Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles

A technology of mechanical arms and pneumatic muscles, applied in the field of bionic robots and rehabilitation robots, to achieve the effects of easy control, high precision and novel structure

Inactive Publication Date: 2010-09-01
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to use pneumatic artificial muscles to design a high-precis...

Method used

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  • Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles
  • Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles
  • Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles

Examples

Experimental program
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Embodiment Construction

[0012] Such as Figure 1~3 As shown, the six-degree-of-freedom flexible robotic arm based on pneumatic muscles includes a fixed platform 1, a shoulder joint 2, an elbow joint 3, a wrist joint 4, a shoulder joint drive 11, an elbow joint drive 12, a wrist joint drive 13, and a shoulder joint drive 11 includes the first pneumatic artificial muscle 5, the second pneumatic artificial muscle 6, the third pneumatic artificial muscle 7, the fourth pneumatic artificial muscle 8, the fifth pneumatic artificial muscle 9, the sixth pneumatic artificial muscle 10, and the elbow joint drive 12 includes the first pneumatic artificial muscle The seventh pneumatic artificial muscle 14, the eighth pneumatic artificial muscle 15, the ninth pneumatic artificial muscle 16, the tenth pneumatic artificial muscle 17, the wrist joint drive 13 includes the eleventh pneumatic artificial muscle 18, the twelfth pneumatic artificial muscle 19, the tenth The third pneumatic artificial muscle 20, the fourte...

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Abstract

The invention discloses a six-degree-of-freedom flexible mechanical arm driven by pneumatic muscles, which mainly comprises a mechanical arm fixing platform, a shoulder joint, a shoulder joint drive, an elbow joint, an elbow joint drive, a wrist joint and a wrist joint drive, wherein the shoulder joint drive is arranged on the mechanical arm fixing platform, the pneumatic muscles are connected in parallel to drive a shaft and a rotor so as to realize te shoulder joint rotates around an Y shaft and a Z shaft, the elbow joint adopts a Hooke joint mechanism, four muscles work in parallel to realize the elbow joint rotates around the Z shaft and the Y shaft, the wrist joint adopts a Hooke joint mechanism, and four muscles work in parallel to realize the wrist joint rotates around the Z shaft and the Y shaft. The invention solves the use defects of the present mechanical arm, has the advantages of novel and simple structure, easy control, flexibility, strong bearing capacity, high precision, no accumulated error, quick response, large rigidity and dynamic property, and the like, and has very high value in use in dangerous working environment by controlling the mechanical arm remotely.

Description

technical field [0001] The invention relates to the fields of bionic robots and rehabilitation robots, in particular to a six-degree-of-freedom flexible mechanical arm based on pneumatic muscles. Background technique [0002] With the continuous development of bionics and robotics, research on humanoid robotic arms is also deepening. The flexible and reliable advantages of the humanoid manipulator arm make it widely used in many fields such as medical treatment and service. Among the traditional robotic arms, the articulated robotic arm that simulates the composition and motion of the human hand has the advantages of simple structure, small space volume, and large movement space, and is the most widely studied robotic arm. Large-scale research and design have been carried out on this type of mechanical arm structure at home and abroad. However, the number of such mechanical arm mechanisms is large, the energy loss is large, the driving device is complicated, and the use is...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 金英子朱红亮刘爽
Owner ZHEJIANG SCI-TECH UNIV
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