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Six-degree-of-freedom compliant joint driven by pneumatic muscles

A technology of pneumatic muscles and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as less degrees of freedom, large volume, and high rigidity, so as to increase the range of angular motion, increase motion compliance and position The effect of increasing the range of adjustable posture and increasing the range of adjustable posture

Inactive Publication Date: 2018-11-23
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a six-degree-of-freedom compliant joint driven by pneumatic muscles, aiming at the problems of complex structure, large rigidity, large volume and few degrees of freedom encountered by bionic joints at present.

Method used

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  • Six-degree-of-freedom compliant joint driven by pneumatic muscles
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  • Six-degree-of-freedom compliant joint driven by pneumatic muscles

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Embodiment Construction

[0022] The specific implementation manners of the present invention will be further described below in conjunction with the drawings and technical solutions.

[0023] Such as figure 1 and image 3 As shown, a six-degree-of-freedom compliant joint driven by a pneumatic muscle includes a pneumatic muscle 1, a displacement sensor 2, a universal joint coupling 3, a static platform 4, a lower sleeve 5, a deep groove ball bearing 6, and a supporting pressure spring 7 and moving platform 8.

[0024] The moving platform 8 is provided with three groups of reaming holes, each group of reaming hole spacing is 120 degrees, which meets the Stewart characteristic distribution, and each group of reaming holes includes two identical reaming holes, and the radius of any reaming hole from the center point of the moving platform 8 is R1; the static platform 4 is provided with three groups of reaming holes, each group of reaming hole spacing is 120 degrees, which meets the Stewart characteristi...

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Abstract

The invention relates to the fields of soft robots, pneumatic control and bionics, in particular to a six-degree-of-freedom compliant joint driven by pneumatic muscles. The compliant joint includes the pneumatic muscles, displacement sensors, universal joint couplings, a static platform, a lower-end sleeve, deep groove ball bearings, a supporting pressure spring and a movable platform. Three setsof reaming holes are formed in the movable platform, the included angle of every two sets of reaming holes is 120 degrees, which conforms to the Stewart feature distribution, each reaming hole set comprises two identical reaming holes, and the distance between any reaming hole and the center point of the movable platform serves as a radius R1; the static platform is identical to the movable platform, each reaming hole set comprises two identical reaming holes, and the distance between any reaming hole and the center point of the static platform serves as a radius R2; R2 is greater than R1. Thesix-degree-of-freedom compliant joint is in parallel connection with a bionic joint and has spatial six-degree-of-freedom movement and large posture movement space, and the movement mechanism range of the compliant joint is similar to that of the neck joint of the human body; meanwhile, the motion compliance of the mechanism is improved, and the adjustable posture range of the mechanism is widened.

Description

technical field [0001] The invention relates to the fields of soft robots, pneumatic control and bionics, in particular to a six-degree-of-freedom compliant joint driven by pneumatic muscles. Background technique [0002] Now that human society is gradually entering an aging society, the problem of labor shortage will become more and more prominent. The research and use of humanoid robots is the key method to improve this problem. It can not only solve the problems of services, medical care, and labor force brought by the aging society, but also form new industries and provide new jobs in the process of commercialization. [0003] The neck is an important part of the human body that connects the head to the torso, supports the head and produces desired head movements. Therefore, the neck joint is a key mechanism of an intelligent humanoid robot. It enables the robot to observe the external environment without moving the body, laying the foundation for observing and manipul...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J17/02B25J9/00
CPCB25J9/00B25J9/0009B25J9/003B25J17/00B25J17/02B25J17/0208
Inventor 程红太周英民徐弘禹
Owner NORTHEASTERN UNIV
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