Primate bionic robot gripper driven by pneumatic muscles

Abstract

The invention relates to the field of bionic robots, in particular to a primate bionic robot gripper driven by pneumatic muscles. The robot gripper comprises an upper arm, a gripper upper joint, a gripper lower joint, the pneumatic muscles, a steel wire rope, a torsion spring and a pneumatic muscle mounting base. The lower end of the upper arm is fixed to the pneumatic muscle mounting base, the upper end of the upper arm is connected with the gripper lower joint, and the gripper upper joint is connected with the gripper lower joint. The pneumatic muscle mounting base is connected with the steel wire rope through the pneumatic muscles; the steel wire rope bypasses a groove on the gripper upper joint, the tail end of the steel wire rope is fixed to a threaded hole in the groove, and the groove constrains the direction of the steel wire rope. The designed primate bionic robot gripper is more bionic; compared with a traditional gripper driven by a gear motor, the grip torque of the gripperis greatly improved, and the defect of large specific self-weight of the traditional gripper driven by the gear motor is overcome.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a pneumatic muscle-driven primate bionic robot gripper. Background technique [0002] In recent years, people's research on primate bionic robots has become more and more in-depth. Through functional simulation and structural simulation of primates, various primate bionic robots have been designed, and various movement modes have been realized. The function realization of the primate bionic robot has high requirements on the performance of the robot's gripper, because the gripper of the primate bionic robot needs to have good bionic performance, light weight, fast response speed and large gripping torque. [0003] However, the existing primate bionic robot grippers all use steering gears in conjunction with reduction gears to complete the opening and closing of the grippers. This driving method will increase the weight of the gripper and reduce the flexibility of the gripper; and th...

AI Technical Summary

Problems solved by technology

This driving method will increase the weight of the gripper and reduce the flexibility of the gripper; and the closing speed of the gripper will be greatly reduced through the deceleration of the reduction gear; the output torque of the steering gear itself is too small to meet the requirements of the gripper. Claw grip torque requirements; In addition, the motor-driven gripper deviates from the meaning of "bionic", so that the primate bionic robot gripper loses the flexibility of the primate gripper

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