A seven-degree-of-freedom humanoid manipulator driven by pneumatic muscles

Abstract

The invention discloses a seven-degree-of-freedom humanoid mechanical arm driven by pneumatic muscles. The mechanical arm is composed of a fixed bracket, a shoulder joint, a large arm, an elbow joint, a small arm, a wrist joint and a hand. The shoulder joint is equipped with shoulder flexion and extension, Shoulder adduction and abduction and upper arm internal rotation and external rotation degrees of freedom, and the axes of the three degrees of freedom intersect at one point, the elbow joint is equipped with elbow flexion and extension degrees of freedom, the wrist joint is equipped with wrist-arm pronation Flexion extension and wrist adduction and abduction degrees of freedom, and the axes of the three degrees of freedom intersect at one point, the movement of the mechanical arm is completely humanoid. Each degree of freedom of the manipulator is driven antagonistically by a pair of pneumatic muscles, using Bowden wires and wire ropes for transmission. The invention has a higher degree of human imitation, a simpler transmission system, and a lower degree of force coupling between different pairs of aerodynamic muscles; the installation position of the aerodynamic muscles is more flexible, the arrangement of the aerodynamic muscles is more compact, and the pre-tightening force of the aerodynamic muscles 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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