Pneumatic-muscled bionic joint based on universal-joint parallel mechanism

A universal joint, pneumatic muscle technology, applied in the field of robotics and human bionics, can solve problems such as high cost and bulky, and achieve the effect of simple structure, enhanced effect, and enlarged range of pose adjustment

Inactive Publication Date: 2014-09-10
NORTHEASTERN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Chinese patent CN 1961848 B proposes a flexible exoskeleton elbow joint with single-degree-of-freedom pneumatic muscles. The elbow joint mechanism is composed of two pneumatic muscles and a single-degree-of-freedom rotary motion pair. This structure can only realize single-degree-of-freedom movement
[0004] Chinese patent CN 101181175A proposes a single-degree-of-freedom elbow joint rehabilitation training devi

Method used

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  • Pneumatic-muscled bionic joint based on universal-joint parallel mechanism
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  • Pneumatic-muscled bionic joint based on universal-joint parallel mechanism

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Embodiment Construction

[0018] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following implementation. example.

[0019] from figure 1 , 2, 3, the bionic joint is mainly composed of four parts: the fixed end platform 2, the forearm platform 7, the pneumatic muscle 5 and the support rod 1.

[0020] from figure 1 , as shown in 2 and 3, six universal joints 6, three of which are connected to the fixed end platform 2 through the pin hole end of the connecting shaft 3, and the remaining three are connected to the forearm platform 7 through the pin hole end of the connecting shaft 3 . The installation method of the connecting shaft 3 is: process three 120° evenly distributed stepped holes on the two platforms respectively, install t...

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Abstract

The invention relates to a pneumatic-muscled bionic joint based on a universal-joint parallel mechanism. The pneumatic-muscled bionic joint mainly structurally comprises a support rod, a fixed end platform, connecting shafts, deep groove ball bearings, pneumatic muscles, universal joints, a front arm platform, internal circlips, and round nuts. When the pneumatic-muscled bionic joint operates, rubber tubes are inflated and expanded by inflating the pneumatic muscles and act on a woven net; weaving angle of lines of the woven net increases, the pneumatic muscles are driven to axially contract; the front arm platform can rotate at three rotational degrees of freedom by inflating one, two or three pneumatic muscles respectively. The pneumatic-muscled bionic joint is simpler in structure, light in weight, good in flexibility and low in cost; space for movement poses is large, the movement range is more approximate to that of human arms, compliance of a mechanism is enhanced accordingly, and pose adjustment range is enlarged. By the use of the pneumatic-muscled bionic joint in the field of medical rehabilitation, functional rehabilitation can be improved for old people or people with upper arms disabled.

Description

technical field [0001] The invention relates to the fields of robots and human body bionics, in particular to a pneumatic muscle bionic joint. Background technique [0002] In today's society, with the rapid economic growth and development, the number of disabled people caused by production and traffic disasters is increasing year by year, and many diseases have also caused many people to lose their upper limbs. On the other hand, the aging of the global population has brought about a large number of problems, such as the need for professional and timely care for the elderly to complete their daily life and medical problems. The resolution of these problems will entail substantial financial burdens. Human upper limb bionic mechanisms can be used to restore limb function in these patients, and can be used to provide assisting devices for the elderly to complete activities of daily living, which will alleviate the current shortage of professional technicians and allow them to...

Claims

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Application Information

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IPC IPC(8): B25J17/02
Inventor 郝丽娜项超群杨辉
Owner NORTHEASTERN UNIV
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