Human-simulated mechanical arm based on hybrid driving of various artificial muscles

A hybrid drive and artificial muscle technology, applied in the field of humanoid manipulators, can solve the problems of drive system limitation, power density reduction, transmission error, etc., and achieve the effect of high power density ratio, simple structure and good flexibility

Active Publication Date: 2015-08-19
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the rapid decrease of the power density of traditional motors with the reduction of volume, and the existence of t

Method used

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  • Human-simulated mechanical arm based on hybrid driving of various artificial muscles
  • Human-simulated mechanical arm based on hybrid driving of various artificial muscles
  • Human-simulated mechanical arm based on hybrid driving of various artificial muscles

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Embodiment Construction

[0023] Figure 1 is a schematic diagram of the structure of a humanoid robotic arm driven by a variety of artificial muscles. The humanoid arm consists of a pan-tilt, PAM bionic elbow joint, SMA bionic wrist joint and IPMC bionic hand. The fixed platform 25 of the PAM bionic elbow joint is connected to the upper part 3 of the pan-tilt through the shaft 26, and the motor 1 and the motor 4 are matched with the gear transmission 27, so that the robot arm can realize pitch and yaw motion as a whole; the bionic elbow joint motion platform 9 The SMA bionic wrist joint movement platform 21 is fixedly connected with the wrist support 24 of the wrist joint by bolts; the SMA bionic wrist joint motion platform 21 is fixedly connected to the inner palm plate 10 of the IPMC bionic hand by threads.

[0024] PAM bionic elbow joints require a total of 7 Hooke hinges 6, of which 3 Hooke hinges 6 are placed on the fixed platform 25 in an equilateral triangle shape, and the other 3 Hooke hinges 6 are...

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Abstract

The invention discloses a human-simulated mechanical arm based on hybrid driving of various artificial muscles, which comprises a motor driving cradle head, a pneumatic muscle (PAM) bionic elbow joint, a shape memory alloy (SMA) bionic wrist joint and an IPMC bionic hand, wherein a shoulder joint has two rotational degrees of freedom; the elbow joint has three rotational degrees of freedom; the wrist joint has two rotational degrees of freedom; and the bionic hand has four fingers and eleven degrees of freedom, so that the mechanical arm has eighteen degrees of freedom. The cradle head is connected with the elbow joint through a shaft, the elbow joint is fixedly connected with the wrist joint through three bolts, and the wrist joint is fixedly connected with the bionic hand through a screw thread. Compared with a motor driving mechanical arm with the same specifications, the mechanical arm disclosed by the invention has the advantages of simple structure, high power-density ratio, good safety, high flexibility and the like, and the mechanical arm is enabled to have better flexibility and bionics characteristics through simulating a bone-muscle system of an upper limb of the human body. The human-simulated mechanical arm disclosed by the invention can be widely applied to the fields of home services, rehabilitation therapy, risk elimination and rescue, material handling and the like.

Description

Technical field [0001] The invention relates to a humanoid mechanical arm based on a hybrid drive of multiple artificial muscles, which belongs to the field of robots, bionics and intelligent materials. Background technique [0002] Robotic arms that imitate the functions of human arms have been used in military, medical and service fields. They can not only replace humans in dangerous environments, but also help people with disabilities complete daily actions. However, the current driving device of the humanoid manipulator mainly adopts the scheme of the cooperation of the motor and the deceleration mechanism. The multi-degree of freedom movement of the robot is realized by multi-motor linkage, which greatly increases the weight of the robot, reduces the safety, and makes the transmission mechanism more complication. In terms of improving the power density ratio of the manipulator drive device, domestic and foreign mainly focus on the research of rigid drive, and this goal is m...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/10B25J17/00
Inventor 郝丽娜杨辉陈洋赵亮亮
Owner NORTHEASTERN UNIV
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