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A robotic system, pneumatic muscle technology, applied in the field of bionic robots
Active Publication Date: 2018-09-18
JIAXING UNIV
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Chinese patent 201710944285.8 proposes for the first time a humanoid robot composed of humanoid upper and lower limbs driven by planar single-joint and multi-joint pneumatic muscles, but the planar and spatially distributed pneumatic muscle combination, space single-joint or even multi-joint distributed pneumatic muscle humanoid robot Basically not involved
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[0029] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0030] Such as Figure 1-9 As shown, a humanoid robot system based on pneumatic muscles, which includes a waist joint, left upper limb, right upper limb, left lower limb and right lower limb;
[0031] The lumbar joint includes the middle fixed plate 1 of the lumbar joint, the left fixed plate 2 of the lumbar joint, the erector spinae one 3, the rectus abdominis one 4, the erector spinae two 5, the rectus abdominis two 6, the external oblique muscle one 7, and the fixed plate 18, fixed plate 2 9, hip j...
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Abstract
The invention discloses a humanoid robot system based on pneumatic muscle. The pneumatic muscle is used for simulating human muscle to drive motions of a shoulder joint, an elbow joint, a wrist joint,a waist joint, a hip joint, a knee joint and an ankle joint, and achieves the function of totally simulating human motions. The humanoid robot mainly consists of a fixed plate, a support piece, thighbone, fibula, feet, humerus, ulna and the pneumatic muscle. The humanoid shoulder joint, elbow joint, wrist joint, waist joint, hip joint, knee joint and ankle joint are respectively provided with three degrees of freedom. The system is driven by the pneumatic muscle, has the characteristics of compact structure, cleanness, explosion prevention, various functions and convenience for equivalent replacement of other demands, and can be used for exhibition, meeting, explosion removal and teaching demonstration.
Description
technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a humanoid robot system based on pneumatic muscles. Background technique [0002] Robot technology can help human beings to be liberated from heavy labor. As the greatest invention of the 20th century, humanoid robots driven by motors have developed rapidly after 1960 and have basically matured. Pneumatic muscles have the advantages of high power / mass ratio, stiffness only related to air pressure, and flexibility similar to human muscles. Chinese patent 201710944285.8 proposes for the first time a humanoid robot composed of humanoid upper and lower limbs driven by plane single-joint and multi-joint pneumatic muscles, but a humanoid robot with plane and space distribution of pneumatic muscles, space single-joint or even multi-joint distribution of pneumatic muscles Basically not involved. Contents of the invention [0003] The purpose of the present invention...
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