A bionic joint with pneumatic muscles based on magnetorheological fluid

Abstract

The invention discloses a pneumatic muscle bionic joint based on magnetorheological fluid, which comprises a bionic motion bone rod, a bionic joint support member with a hollow ball structure with a tapered hole at the top, and a bionic driven bone rod; the bionic motion bone rod The side wall and the side wall of the bionic joint support are connected by pneumatic artificial muscles, and the bionic driven bone is connected to the lower end of the bionic joint support; the bionic joint support is equipped with a spherical body, a cross arc damping block, a movable block, and a cross arc The shape damping block divides the interior of the bionic joint support into four spaces, which are filled with magnetorheological fluid; the lower end of the bionic motion bone rod passes through the conical hole and connects with the spherical body through the movable block, and connects the bionic joint support with the A rubber sealing ring is sleeved between the tapered circular holes. The invention realizes the motion regulation and control of the bionic joint through air pressure control; the magnetorheological fluid realizes the motion regulation and control of the bionic joint through electromagnetic control, and has the advantages of compact structure, similar shape, stable driving, and excellent performance.

Description

technical field [0001] The invention belongs to the technical field of joint manipulators, and relates to a bionic joint, in particular to a pneumatic muscle bionic joint based on magnetorheological fluid. Background technique [0002] In nature, organisms have been highly adaptable to the natural environment through natural selection and long-term self-evolution. Therefore, by combining the superior structure and physical properties that may be applied in biological systems, bionics can be applied to solve problems in practical life. [0003] At present, various bionic joints are designed and manufactured to imitate and replace human joints. However, most of the existing bionic joints use complex structures or traditional transmission methods to achieve functional requirements, which often leads to large and complex structures of bionic joints, which are difficult to apply in practice. And in order to achieve the characteristics of bionic joints, most bionic joints often ...

AI Technical Summary

Problems solved by technology

However, most of the existing bionic joints use complex structures or traditional transmission methods to achieve functional requirements, which often leads to large and complex structures of bionic joints, which are difficult to apply in practice.

And in order to achieve the characteristics of bionic joints, most bionic joints often ignore the appearance design in pursuit of function realization, and have not realized the real imitation of human bone shape, which greatly limits its application range

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