Pneumatic artificial muscle fiber and bionic robotic arm
A technology of pneumatic artificial muscles and bionic machinery, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of potential safety hazards, heavy weight of the manipulator arm, and inability to disassemble it, and achieve compact structure, low cost, and weight reduction Effect
Active Publication Date: 2020-09-15
TSINGHUA UNIV
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Problems solved by technology
However, most of the main bodies of existing industrial manipulators are made of metal materials, which will cause the weight of the whole manipulator to be heavy.
Moreover, the existing industrial manipulators are rigidly driven. When a collision occurs accidentally during the work process, the collision force is large and cannot be removed. There are potential safety hazards in human-computer interaction.
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[0028] Embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.
[0029] Embodiments of the present disclosure are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. The present disclosure can also be implemented or applied through different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, a...
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The invention discloses a pneumatic artificial muscle fiber and a bionic mechanical arm. The bionic mechanical arm comprises an artificial muscle drive group, an upper arm, a forearm, and an elbow joint cladding device. The upper arm is rotatably connected to the forearm, and an elbow joint is formed at the rotational joint of the upper arm and the forearm. The elbow joint cladding device is cladwith the elbow joint. One end of the artificial muscle drive group is fixed to the upper arm and the other end is fixed to the forearm. The forearm rotates or twists around the elbow joint under driving of the artificial muscle drive group. The artificial muscle drive group comprises a plurality of pneumatic artificial muscle packages. The bionic mechanical arm uses the pneumatic artificial musclepackages for driving, and has a function of variable stiffness. When a collision occurs with other objects, due to flexible characteristics of the pneumatic artificial muscle packages, part of collision force can be removed during collision, and safety of man-machine interaction is improved. The pneumatic artificial muscle fibers that make up the pneumatic artificial muscle packages are made froma flexible material and nylon, thereby reducing the weight of the bionic mechanical arm.
Description
technical field [0001] The invention relates to the field of bionic manipulator design, in particular to a pneumatic artificial muscle fiber and a bionic manipulator. Background technique [0002] Production activities in the manufacturing industry are inseparable from robots, and industrial robotic arms are widely used in robots. The industrial robotic arm has high positioning accuracy, large load, and fast speed. It is often used in welding, spraying, assembly, and cargo sorting in assembly line production. However, most of the main bodies of existing industrial manipulators are made of metal materials, which will lead to a heavy weight of the whole manipulator. Moreover, the existing industrial manipulators are rigidly driven. When a collision occurs accidentally during work, the collision force is relatively large and cannot be removed, which poses a safety hazard during human-computer interaction. With the continuous progress of manufacturing, people's demand for robo...
Claims
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IPC IPC(8): B25J9/10B25J9/14
CPCB25J9/1075B25J9/142
Inventor 赵慧婵林中汉刘辛军
Owner TSINGHUA UNIV