Seven-degree-of-freedom humanoid mechanical arm driven by pneumatic muscle

Abstract

The invention discloses a seven-degree-of-freedom humanoid mechanical arm driven by pneumatic muscle. The mechanical arm is composed of a fixing support, a shoulder joint, a big arm, an elbow joint, aforearm, a wrist joint and a hand, wherein the shoulder joint is provided with a degree of shoulder buckling stretching freedom, a degree of shoulder abduction freedom and a degree of big arm inner rotation and outer rotation freedom, the axles of the degree of shoulder buckling stretching freedom, the degree of shoulder abduction freedom and the degree of big arm inner rotation and outer rotation freedom intersect at one point, the elbow joint is provided with a degree of elbow buckling stretching freedom, the wrist joint is provided with a degree of elbow-forearm pre-rotation and post-rotation freedom, a degree of wrist buckling stretching freedom and a degree of wrist abduction freedom, the axles of the degree of elbow-forearm pre-rotation and post-rotation freedom, the degree of wrist buckling stretching freedom and the degree of wrist abduction freedom intersect at one point, and the movement of the mechanical arm completely simulates people. Each degree of freedom of the mechanical arm is driven by a pair of pneumatic muscle antagonists, and a bowstring wire and a steel wire rope are used for transmission. According to the seven-degree-of-freedom humanoid mechanical arm driven by pneumatic muscle, the artificial degree is higher, a transmission system is simpler, and the degree of coupling between different pneumatic muscles is lower; and the installation position of the pneumatic muscle is more flexible, the arrangement of the pneumatic muscle is more compact, and the pre-tightening force of the pneumatic muscle is adjustable.

Description

technical field [0001] The invention relates to a seven-degree-of-freedom humanoid mechanical arm driven by pneumatic muscles, belonging to the fields of robotics and bionics. Background technique [0002] Humanoid robotic arms can be applied in fields such as human-machine collaboration, medical rehabilitation, entertainment and leisure, and work closely with humans to complete production tasks or provide services for humans; the structure and motion patterns of humanoid robotic arms are similar to those of human arms, so its Behavior is predictable, it feels more natural to the people working with it, and human-machine collaboration is more efficient. The humanoid robot arm needs to interact with people frequently, so the robot arm must be physically safe, and the movement of the robot arm must be compliant. Traditional humanoid manipulators are driven by servo motors and reducers. They have the characteristics of large mass, high rigidity, and low power-to-mass ratio. Th...

AI Technical Summary

Problems solved by technology

For example, the ZAR5 pneumatic robot designed by the German FESTO company has 7 degrees of freedom in its mechanical arm, which has shoulders, elbows, wrist joints and dexterous hands, and can complete the master-slave grasping task; the muscle-skeleton mechanical arm designed by Osaka University in Japan , using spherical joints, driven by human-like muscle groups, can reproduce the teaching action; Liu Changhong of Guangzhou University designed a six-degree-of-freedom bionic robot arm based on pneumatic muscles (Chinese invention patent, CN 105150190 A), including a frame, a shoulder Joints, elbow joints, wrist joints and mechanical palms, the swing and rotation of the joints are realized by the pulley assembly; a multi-degree-of-freedom bionic manipulator designed by Jin Yingzi of Zhejiang Sci-tech University (Chinese invention patent, CN 104942791 A ), including the manipulator mechanism, the rope traction system that transmits power to the manipulator mechanism, etc. However, the existing humanoid manipulators driven by pneumatic muscles have problems such as low degree of human imitation and complicated transmission systems, which make the movement of the manipulators difficult. Naturally, it also increases the difficulty of controlling the robotic arm

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