Variable-rigidity bionic body driven by biomimetic muscle fibers

Abstract

The invention relates to a variable-rigidity bionic body driven by biomimetic muscle fibers, and belongs to the technical field of bionic robots. The variable-rigidity bionic body comprises a front rack, a rear rack, a bionic spinal column body, a bionic ligament set and a pneumatic muscle fiber set; the bionic spinal column is composed of a thoracic vertebra part and a lumbar vertebra part whichare composed of a plurality of sections of bionic spine units, wherein each section of bionic spine unit comprises bionic vertebrae and a bionic intervertebral disc, and the bionic spinal column is fixedly connected with the front rack and the rear rack through screws. The pneumatic muscle fiber set is formed by binding a plurality of pneumatic muscle fibers and is respectively bound on the frontrack, the rear rack and thoracic vertebra ribs through tendons. Lateral bending and vertical pitching bending motions of the bionic body can be achieved; the bionic body has the advantages of being light and handy in structure, flexible in motion, good in flexibility and bionic effect and the like, and the dynamic motion performance of the robot in an unstructured environment can be improved.

Description

technical field [0001] The invention relates to a variable stiffness bionic body driven by biological muscle fibers, which can be used for quadruped bionic robots and belongs to the technical field of bionic robots. Background technique [0002] The quadruped bionic robot is in point contact with the ground during the movement, which can adapt to the complex terrain environment and has broad application prospects. At present, the bodies of quadruped bionic robots mostly adopt rigid overall structures, which cannot fully utilize the important functions of the flexible bodies of quadruped mammals. The spine structure and muscle system of quadruped mammals work together. On the one hand, the body can be flexibly bent to realize the in-situ steering function. On the other hand, the pitching and flexing of the spine during running can increase the swing phase of the limbs and provide boosting force. Store and transfer energy. [0003] Pneumatic artificial muscles are widely use...

AI Technical Summary

Problems solved by technology

However, most of the pneumatic artificial muscles have a diameter of 10-40mm. When inflated, the muscles harden and expand radially, and there are heavy rigid air-leakage parts at both ends. It is difficult to densely install in the robot body to obtain the same performance as biological muscles The advantages of redundant drive mechanisms and light weight of pneumatic artificial muscles have not yet been fully utilized

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