Five-degree-of-freedom parallel-series bionic shoulder joint

Abstract

The invention discloses a five-degree-of-freedom parallel-series bionic shoulder joint. A 2-PUS+U two-degree-of-freedom parallel mechanism comprises a bionic rack, an intermediate moving platform, an S-shaped connecting rod between the bionic rack and the intermediate moving platform and two moving branch chains with the same structure, wherein each moving branch chain sequentially consists of a linear guide rail moving pair, a driving sliding block, a hook joint, a driven rod and a spherical pair; a 3-RRR three-degree-of-freedom spherical parallel mechanism comprises an intermediate moving platform, three rotating branch chains and a tail moving platform; a spherical hinge with a large working space comprises a support rod, a double-lug bracket, a ball head, a U-shaped stirring fork, an intermediate support roller, a hollow output rod and a pin shaft; a bias output unit comprises an output rod and a bias output rod. According to the bionic shoulder joint, the bias output rod can move in five degrees of freedom, and the bionic shoulder joint is maximally close to the actual state of a human shoulder joint in terms of structure, movement and function.

Description

technical field [0001] The invention relates to the field of humanoid robots, in particular to parallel-series bionic shoulder joints. Background technique [0002] As one of the most active branches in the field of robotics, the development level of humanoid robots is an important symbol of the country's high-tech comprehensive strength. At present, the research aimed at realizing the general (maneuvering, operating) functions of humanoids has come to an end. Smart Bionic. The mechanical body is the basic framework of humanoid robots, which directly determines the performance of humanoid robots and restricts the potential of humanoid robot control and intelligent development in the future. It is the primary task of designing humanoid robots. In the mechanical body of the humanoid robot, each joint of the humanoid robot is the most critical part. The existing joint mechanisms of various humanoid robots are mostly in series configuration, that is, two or three single rotat...

AI Technical Summary

Problems solved by technology

In 2005, the 3-DOF bionic shoulder joint (the Cybernetic Shoulder) designed by the University of Tokyo in Japan considered the effect of the human body's scapula support on the movement of the large arm. However, its working space center is located on the side of the human body, which is different from the human body's large arm The actual situation of the movement does not match. Nearly half of the working space at the back of the coronal plane of the human body is free, and the area of ​​the front of the coronal front of the human body where the adduction and swing of the upper arm exceeds 90 degrees cannot be realized.

Therefore, the existing parallel bionic shoulder joints of humanoid robots have a low bionic level in terms of structural form and motion characteristics, and have a large gap with the functional characteristics of human shoulder joints.

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