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Humanoid Robot Based on Pneumatic Muscles

A pneumatic muscle and robot technology, applied in the field of robotics, to achieve the effect of compact structure, high power/mass ratio, and good flexibility

Inactive Publication Date: 2020-01-31
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Human muscles can be divided into pneumatic muscles that drive single joints and multiple joints according to the joints they drive. The two types of pneumatic muscles are widely distributed in the lower and upper limbs of humans. During the joint movement process, they alternately play different roles in different stages. The roles are coordinated with each other, and finally the joint output angle and force are realized. At present, the research on humanoid robots driven by pneumatic muscles is basically in a blank state.

Method used

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  • Humanoid Robot Based on Pneumatic Muscles
  • Humanoid Robot Based on Pneumatic Muscles
  • Humanoid Robot Based on Pneumatic Muscles

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Embodiment Construction

[0028] The pneumatic muscle-based profiling robot of the present invention will be further described below in conjunction with specific embodiments.

[0029] Such as figure 1 , 2 , shown in 3, 4, humanoid robot system based on pneumatic muscle of the present invention comprises shoulder 1, left arm, right arm, waist, lower limbs, and left arm, right arm, waist are all connected with shoulder by ball joint; It is connected with the waist through a ball hinge;

[0030] The left arm includes teres major 2, pectoralis major 3, biceps brachii 4, triceps longus 5, brachioradialis 6, anconeus 7, humerus 8, brachialis 9, flexor carpi radialis 10, radial Lateral wrist extensor 11, hand 12, ulna 13;

[0031] Teres major 2, anconeus 7, triceps longus 5, extensor carpi radialis 11 on the side of humerus 8 and ulna 13, pectoralis major 3, biceps brachii 4, brachioradialis 6, brachialis 9. The flexor carpi radialis 10 is located on the other side of the humerus 8 and the ulna 13;

[00...

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Abstract

The invention discloses a humanoid robot based on pneumatic muscles. According to the humanoid robot, human muscles are simulated by the pneumatic muscles to drive movement of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, so that the humanoid robot has a function of completely simulating human movement. The humanoid robot has the advantages ofcompact structure, cleanness and good anti-explosion performance, and can be applied to scientific research, teaching demonstration and medical diagnosis.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a profiling robot based on pneumatic muscles. Background technique [0002] At present, humanoid robots using motors as power sources are relatively mature, but as new actuators, pneumatic muscles have the advantages of high power / mass ratio, stiffness changes with air pressure, and flexibility similar to human muscles. Therefore, pneumatic muscles It has broad application prospects in the field of robotics. Human muscles can be divided into pneumatic muscles that drive single joints and multiple joints according to the joints they drive. The two types of pneumatic muscles are widely distributed in the lower and upper limbs of humans. During the joint movement process, they alternately play different roles in different stages. The characters are coordinated with each other to finally realize the output angle and force of the joints. At present, the research on humanoid robots driven...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00A61H1/02
Inventor 姜飞龙张海军朱荷蕾朱海滨钱承宋玉来殷小亮刘睿莹陈晟周丽戴婷沈剑英杨立娜
Owner JIAXING UNIV
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