Self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle

Abstract

The invention relates to a self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle and aims at providing a manipulator which has certain functions of human hands and also has the characteristics of practicability, smoothness, safety, small size, lightness, easiness in control and simple mechanism. According to the technical scheme, the self-adaption MDOF humanoid manipulator based on the pneumatic artificial muscle comprises an air course control system, a manipulator mechanism and an artificial muscle system, wherein the manipulator mechanism comprises a mechanical big arm, a mechanical forearm, a hand and five fingers; the artificial muscle system comprises a plurality of third pneumatic artificial muscles, a plurality of fourth pneumatic artificial muscles, a plurality of first pneumatic artificial muscles, a plurality of fifth pneumatic artificial muscles and a plurality of second pneumatic artificial muscles; the mechanism big arm is driven by the third pneumatic artificial muscles and the fourth pneumatic artificial muscles; the mechanism forearm is driven by the first pneumatic artificial muscles; a wrist joint is driven by the fifth pneumatic artificial muscles; the five fingers are driven by the second pneumatic artificial muscles.

Description

technical field

[0001] The invention relates to a robot manipulator, in particular to an adaptive multi-degree-of-freedom humanoid manipulator based on pneumatic artificial muscles. Background technique

[0002] With the development of automation and industrial mechanization, and the advantages of pneumatic technology itself, there are more and more researches on pneumatic manipulators, and they have been widely used in bionic robots, bionic medicine, service robots and other fields. And with the continuous development of robot technology, it is not only hoped that the robot has the characteristics of high safety, high precision, fast response, and large carrying capacity, but also has good flexibility, especially in bionic robots, rehabilitation robots and service robots. Pneumatic artificial muscles were developed. Compared with traditional drive devices, pneumatic artificial muscle drives have the advantages of good flexibility, light weight, high power-to-weight ratio, ...

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