Lumbar joint of a local three-degree-of-freedom rigid-soft coupling bionic robot

Abstract

The invention discloses a local three-degree-of-freedom rigid-flexible coupling bionic robot waist joint, which is composed of four sets of three-degree-of-freedom parallel mechanism units superimposed, and the parallel mechanism units include a flexible fixed platform, a flexible shared platform, a flexible dynamic platform and Its intermediate connection mechanism. The connection mechanism includes: three uniformly distributed flexible constrained branches, a central rigid branch, and three groups of artificial muscles uniformly distributed in the circumferential direction; strain gauges are also embedded on each flexible platform to obtain mechanical information. The invention not only includes the advantages of the traditional parallel mechanism, but further, due to the application of the flexible mechanism and soft artificial muscles, the bionic waist joint is closer to the structure of the human body and integrates the functions of motion and force perception.

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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