A driving device for a robotic muscle-like elastic joint

Abstract

The invention discloses an artificial muscle elastic joint driving device of a robot and belongs to the technical field of robots. The artificial muscle elastic joint driving device of the robot comprises a direct current steering engine driving part, a robot joint part, a joint corner measuring feedback module, a joint initial rigidity adjusting part, a first limb and a second limb. The direct current digital steering engine driving part is composed of a crankshaft mechanism, a flexible thin rope, a driving tension spring, a direct current steering engine, a reset spring and a fastener. The joint initial rigidity is ensured through the reset tension spring, and elastic driving of an artificial muscle joint is achieved through the flexible thin rope and the driving tension spring. The robot joint part comprises the first limb and the second limb, wherein the first limb and the second limb are connected through a hinge. The joint corner measuring feedback module comprises a magnetic encoder, a permanent magnet, a fastening screw and a baffle, and the joint corner measuring feedback module is connected with a control system to achieve data feedback of the rotation angle of the joint. According to the artificial muscle elastic joint driving device of the robot, movement of the limbs is achieved with the elastic driving method, a joint driving scheme which is strong in adaptability is formed, joint actions driven according to the scheme is more supple and more smooth, and the joint actions are closer to the joint movement driven by the muscles.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a robot joint driving device imitating muscles, that is, a robot joint driving device combining a DC digital steering gear and a muscle-imitating elastic structure. Background technique [0002] For a long time, the traditional robot joint design theory believes that for the mechanical connection between the power drive device and the joint hinge, the transmission mechanism with higher stiffness should be given priority. Therefore, in the research of joint robots or intelligent mechanisms such as industrial robot arms, bionic multi-legged robots, and rehabilitation medical prostheses, the driving scheme of rigid connection between the motor output shaft and the joint mechanism is generally used. Precise and fast in kinematic response, and able to meet the basic task requirements of operation and application. Although this joint rigid drive method has the characteristics of matu...

AI Technical Summary

Problems solved by technology

Although this joint rigid drive method has the characteristics of mature technology and perfect development, it is limited by the performance of the motor and the high rigidity of the mechanism, resulting in strong robustness and weak adaptability of the rigid drive. There are still some deficiencies and shortcomings in the goals of self-adjusting contact and low-energy sports.

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