Humanoid shoulder joint system based on rope

Abstract

The invention discloses a humanoid shoulder joint system based on a rope. A motor and the rope are adopted to simulate muscles of a human body to drive a shoulder joint to move, and the function of completely simulating human body shoulder joint movement is achieved. A humanoid shoulder joint is mainly composed of a shoulder blade, a humerus, an ulna, a supraspinatus, a teres minor, an infraspinatus, a deltoid, a latissimus dorsi, a triceps brachii, a coracoid brachialis, a biceps brachii, a motor and a rope guider. The supraspinatus, the teres minor, the infraspinatus,the deltoid, the latissimus dorsi, the triceps brachii and the coracoid brachialis jointly drive the humerus to do bending, stretching, adduction, abduction and circumduction motion around the shoulder blade, and the tricepsbrachii and the biceps brachii drive the humerus to do bending, stretching, adduction, abduction and circumduction motion around the shoulder blade together with the supraspinatus, the teres minor, the infraspinatus, the deltoid, the latissimus dorsi, the triceps brachii and the coracoid brachialis while driving the ulna to do bending, stretching, adduction and abduction motion around the humerus. The motor and the rope are combined for drive, and the humanoid shoulder joint system has the advantages of being compact in structure, good in flexibility and large in movement space, and can be used for teaching and exhibition.

Description

technical field [0001] The invention belongs to the technical field of bionic robots and relates to a humanoid shoulder joint system based on ropes. Background technique [0002] The human upper limb muscles are distributed in a staggered manner. In different postures and in the process of movement, each muscle coordinates to complete complex movement output force and spatial posture movement. [0003] In order to better understand the role of each muscle in the upper limb movement, it is necessary to study the muscle distribution of the upper limb. Chinese patent 201510016217.6 uses a cylinder to design a humanoid upper limb, but the cylinder is relatively heavy; Quantities are also affected by the interference of the end heads. Contents of the invention [0004] The object of the present invention is to provide a humanoid shoulder joint system based on ropes for the above-mentioned existing technical defects. The present invention has the advantages of compact structur...

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Problems solved by technology

Chinese patent 201510016217.6 uses a cylinder to design a humanoid upper limb, but the cylinder is relatively heavy; The quantity is also affected by the interference of the end head

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