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

A technology of pneumatic artificial muscles and manipulators, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large volume, not practical stage, complex structure, etc., and achieve the effect of small volume, simple mechanism and easy control

Inactive Publication Date: 2015-05-06
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, none of the above studies has reached the practical stage, and the structure is relatively complex and the volume is relatively large.

Method used

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

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Embodiment Construction

[0030] The specific structure and working principle of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0031] Pneumatic artificial muscles, as a new type of actuator with high power-to-weight ratio and compliance, have the advantages of small size and simple structure. First of all, pneumatic artificial muscles are similar to biological muscles, and can be directly installed inside the manipulator to imitate biological muscles. The robot manipulators driven by pneumatic artificial muscles are all slimmer and lighter in appearance, and compared with other driving methods, the robot manipulators have lower stiffness. Therefore, this type of robot manipulator has both safety and flexibility. In addition, according to the characteristics of contraction and responsiveness of the pneumatic muscle, its movement is closer to that of human muscle movement, so as to realize the function of humanoid manipulat...

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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, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/10B25J17/02
Inventor 金英子毛文波向新贤余辅波
Owner ZHEJIANG SCI-TECH UNIV
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