Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint

Abstract

The invention discloses a local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint. The local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint comprises four parallel units stacked from bottom to top, and the four parallel units comprises the first parallel unit, the second parallel unit, the third parallel unit and the fourth parallel unit from bottom to top; the first parallel mechanism unit and the fourth parallel mechanism unit are the same in structure, and the second parallel mechanism unit and the third parallel mechanism unit are the same in structure; a flexible shared platform is arranged between every two adjacent parallel units, a flexible fixed platform is arranged at the bottom end of the first parallel unit, a flexible movable platform is arranged at the top end of the fourth parallel unit, a rigid center branch, a flexible constraint branch and artificial muscles are arranged between every two adjacent platforms, the artificial muscles are evenly distributed in the circumferential direction, and the head end and the tail end of each artificial muscle are perpendicularly hinged to the two adjacent platforms correspondingly. The local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint has the advantages of high simulation and good market application prospect.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint. Background technique [0002] The main function of the lumbar joint in the human body is to connect the lower limbs and the trunk. Its function is not only to provide rotational freedom, but also to feel the force between the trunk and the lower limbs. For bionic robots, although the series mechanism has a large working space, it often has problems such as high cumulative error and poor load capacity, so the parallel mechanism has become the first choice for waist joint bionics. After searching the existing relevant technical documents, it was found that the invention patent CN101695838A proposed a parallel mechanism with three turns and one shift, which did reduce the cumulative error and improve the load capacity compared with other series mechanisms; the invention patent CN108393872A propos...

AI Technical Summary

Problems solved by technology

[0003] The present invention provides a local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint, which solves the shortcomings of the existing bionic robot waist joints of poor flexibility and lack of force perception ability

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