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

Abstract

The invention discloses a local three-degree-of-freedom rigid-flexible coupling bionic robot waist joint. The local three-degree-of-freedom rigid-flexible coupling bionic robot waist joint is formed by superposing four groups of three-degree-of-freedom parallel mechanism units, and each parallel mechanism unit comprises a flexible fixed platform, a flexible shared platform, a flexible movable platform and a middle connecting mechanism; the connecting mechanism comprises three flexible constraint branches which are uniformly distributed in the circumferential direction, a central rigid branch and three groups of artificial muscles which are uniformly distributed in the circumferential direction; and a strain gauge is embedded on each flexible platform to obtain mechanical information. The local three-degree-of-freedom rigid-flexible coupling bionic robot waist joint has the advantages of a traditional parallel mechanism, and further, due to the application of flexible mechanisms and the soft artificial muscles, the bionic waist joint is closer to a human body structure and integrates the movement function and the force sensing function.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a waist joint of a local three-degree-of-freedom rigid-flexible coupling bionic robot. 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. Therefore, the parallel mechanism has become the first choice for bionic waist joints. Discovery, invention patent: CN101695838A proposes a parallel mechanism with three turns and one shift, which indeed reduces the cumulative error and improves load capacity compared with other series mechanisms; invention patent: CN108393872A proposes a parallel unit coupling mechanism, Increased instit...

AI Technical Summary

Problems solved by technology

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. Therefore, the parallel mechanism has become the first choice for bionic waist joints. Discovery, invention patent: CN101695838A proposes a parallel mechanism with three turns and one shift, which indeed reduces the cumulative error and improves load capacity compared with other series mechanisms; invention patent: CN108393872A proposes a parallel unit coupling mechanism, Increased organizational flexibility and workspace

However, the robot joints mentioned above are all rigid joints, and there is still a certain gap in structure and performance between the human lumbar joints with rigid-soft coupling and motion perception.

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