Bionic shoulder joint based on dielectric elastomer actuators
A dielectric elastomer and shoulder joint technology, which is applied in the field of humanoid shoulder joints, can solve problems such as inconvenient maintenance, poor reliability, and large thrust, and achieve the effects of weight reduction, smooth operation, and energy loss reduction
Active Publication Date: 2017-11-07
国家康复辅具研究中心
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The mechanical arm is driven by hydraulic pressure, the thrust is large, and the speed is convenient to adjust, but the reliability is poor and the maintenance is inconvenient
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0022] see figure 1 , figure 2 Shown: a humanoid shoulder joint based on a dielectric elastomer actuator, which includes a shoulder joint interface 1, a shoulder joint support 2, an upper arm support 3, two upper arm linkages 4, 7 and two dielectric elastomers as Actuator 5, 6; There is a rotary sleeve 101 on the shoulder joint interface, which is used to connect the front end of the shoulder joint support, so that the shoulder joint support can rotate in the shoulder joint interface; the shoulder joint support 2 is U-shaped, Two sleeves 201 on the same axis are arranged at corresponding positions inside the opening end of the shoulder joint support 2, and the central shaft 301 of the upper arm support is installed in the two sleeves 201 and can rotate in the sleeve; the upper arm support Two symmetrically arranged hemispherical grooves protrude from the front end, which are used to connect with the upper end of the connecting rod, and the lower end of the connecting rod is ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
A bionic shoulder joint based on dielectric elastomer actuators comprises a shoulder joint connector, a shoulder joint support, an upper arm support, two upper-arm connecting rods and the two dielectric elastomer actuators, wherein the shoulder joint connector is provided with a rotation sleeve, and the front end of the shoulder joint support is installed at the rotation sleeve so that the shoulder joint support can rotate in the shoulder joint connector; and an intermediate shaft of the upper arm support is installed in two sleeves and can rotate in the sleeves. Two symmetrically arranged hemispherical grooves extend out from the front end of the upper arm support and are used for being connected with round heads of the two connecting rods. The tail end of each connecting rod and the output end of the corresponding dielectric elastomer actuator are installed together. The two actuators act at the same time and can control the movement direction and movement angle of the shoulder joint. The bionic shoulder joint is similar to true conditions of a human body on the aspects of structure, movement and functions, and has good flexibility. Besides, the bionic shoulder joint is simple in structure, reasonable in design and convenient to install and can be applied to the shoulder joint design of various humanoid robots, and the application prospects are quite extensive.
Description
technical field [0001] The patent of the invention relates to the technical field of shoulder joints, and belongs to a humanoid shoulder joint based on a dielectric elastomer actuator. Background technique [0002] Humanoid robots are robots designed and manufactured to imitate human shapes and behaviors. Since the first industrial robot was manufactured in the United States in 1959, within half a century, the development of robots has experienced industrial robots, remote-controlled robots, intelligent robots and bionic robots. four stages. A humanoid robot must have two arms similar to the upper limbs of a human, and have two or more fingers at the end of the arms. This not only meets the general robot operation requirements, but also enables coordinated control of both arms and finger control to achieve more complex operations. Humanoid robots are currently widely used in military, medical and service fields. They can not only replace humans to complete dangerous tasks,...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/12
CPCB25J9/12B25J17/00
Inventor 徐建光李霞张秀峰付慧群张宁
Owner 国家康复辅具研究中心