Bionic joint based on pneumatic muscle serial-parallel connection

A pneumatic muscle and bionic joint technology, applied in the field of bionic robots, can solve problems such as the inability to simulate the distribution state of joints and muscles, and achieve the effects of compact structure, good flexibility, and high power/mass ratio

Inactive Publication Date: 2017-10-20
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] None of the above can better simulate

Method used

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  • Bionic joint based on pneumatic muscle serial-parallel connection
  • Bionic joint based on pneumatic muscle serial-parallel connection
  • Bionic joint based on pneumatic muscle serial-parallel connection

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Embodiment Construction

[0027] like figure 1 , 2 , 3, the present invention is based on pneumatic muscle hybrid bionic joint system comprising: base 1, multi-joint pneumatic muscle 1 2, single-joint pneumatic muscle 1 3, multi-joint pneumatic muscle 2 4, single-joint pneumatic muscle 2 5, lower end support Rod 6, middle platform 7, single-joint pneumatic muscle 4 8, upper support rod 9, upper platform 10, single-joint pneumatic muscle 5 11, single-joint pneumatic muscle 6 12, multi-joint pneumatic muscle 3 13, single-joint pneumatic muscle 3 14 , ball hinge 15, ball hinge 2 16, bolt 17, bolt 2 18, muffler 19, muffler tank 20, high-speed switching valve valve group 21, steering gear controller 22, raspberry pie 23, computer 24, data acquisition Card 25, pneumatic triplet 26, pressure holding tank 27, inclination sensor 28, pressure sensor 29.

[0028] Among them, one end of the single-joint pneumatic muscle 3, the single-joint pneumatic muscle 2 5, and the single-joint pneumatic muscle 3 14 are conn...

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Abstract

The invention discloses a bionic joint based on pneumatic muscle serial-parallel connection. Pneumatic muscles are used for driving a base, a middle platform and an upper end platform to simulate joints and muscle movement of a person. The bionic joint based on pneumatic muscle serial-parallel connection comprises the base, the middle platform, the upper end platform, multi-joint pneumatic muscles and single-joint pneumatic muscles; the multi-joint pneumatic muscles are connected between the upper end platform and the base; and the single-joint pneumatic muscles are connected between the upper end platform and the middle platform and between the middle platform and the base. The manner that the pneumatic muscles are connected in parallel, the pneumatic muscles connected in parallel are connected in series, the pneumatic muscles connected in series are connected in parallel, and the pneumatic muscles in multiple directions are connected in series and in parallel is adopted for the bionic joint based on pneumatic muscle serial-parallel connection; the platforms can be driven to move by the multiple pneumatic muscles in multiple directions cooperatively, the structure is compact, clean and good in anti-explosion performance, and the bionic joint based on pneumatic muscle serial-parallel connection can be used in the fields of human joint simulation, movement simulators, medical rehabilitation instruments and the like.

Description

technical field [0001] The invention belongs to the technical field of bionic robots and relates to a hybrid system for simulating joints. Background technique [0002] Pneumatic muscles are similar to human muscles in terms of flexibility. In addition, pneumatic muscles work by inflating and deflated to provide tension, while human muscles work by absorbing oxygen and water and removing carbon dioxide. At the same time, both have isobaric and isotonic , Equal length and other similar working conditions. Pneumatic muscles can be further used to simulate human joints on a parallel platform with high precision and high output force. [0003] Chinese patent 200610053005.6 proposes a parallel platform with a fixed shaft in the middle and three pneumatic muscles driven evenly around the periphery, which can realize the rolling and pitching of the fixed platform. [0004] Chinese patent 201410267007.X removes the middle rod on the basis of Chinese patent 200610053005.6, and only...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/00
CPCB25J9/0054B25J17/00
Inventor 姜飞龙
Owner JIAXING UNIV
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