A Humanoid Robot System Based on Pneumatic Muscle and Cylinder
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A robotic system, pneumatic muscle technology, applied in the field of robotics, can solve problems such as no joint muscle distribution
Inactive Publication Date: 2020-02-28
JIAXING UNIV
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Chinese patent 201810258382 first proposed a humanoid robot based on cylinders, which functionally simulates the rotation of human joints, but does not truly simulate the distribution of certain joint muscles of the human body
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[0027] The following describes the present invention in detail based on the accompanying drawings and preferred embodiments. The purpose and effects of the present invention will become more apparent. The following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
[0028] Such as Figure 1-5 As shown, a humanoid robot system based on pneumatic muscles and air cylinders includes a skull 1, chest, waist joints, upper left limb, upper right limb, lower left limb, and lower right limb;
[0029] The chest includes posterior vertebra 1, 2, posterior vertebra 2 3, posterior vertebra 3 4, posterior vertebra 4 5, posterior vertebra 5 11, posterior vertebra 6 13, anterior vertebra 1 17, anterior vertebra 2 20, anterior vertebra 3 21, The first layer of left ribs 12, the first...
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Abstract
The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The humanoid robot system is driven by the pneumatic muscles and the air cylinders at the same time and has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for exhibition, meeting and teaching demonstration.
Description
Technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a humanoid robot system based on pneumatic muscles and air cylinders. Background technique [0002] Since humanoid robots are similar in appearance to humans, they can replace humans in dangerous and heavy work and integrate into human work and life to coordinate with humans. Motor-driven robots have greater inertia and rigidity at the joints driven by the motor. The flexibility and rigidity of pneumatically-driven robots can be adjusted by adjusting the air pressure. Two commonly used components of pneumatics: pneumatic muscles have good flexibility and can be used to design human-like flexible redundant joints; cylinders have a large range of motion and many The joints connected in parallel with the cylinders can simultaneously have the freedom of rotation and movement, and the freedom of rotation and movement. Chinese patent 201810258382 first proposed a cylinder-based ...
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