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Humanoid robot based on pneumatics

A robot and pneumatic muscle technology, applied in the field of robotics, can solve problems such as not being able to truly reflect the movement characteristics of human joint muscles

Inactive Publication Date: 2021-05-11
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Only designing a single flexible parallel joint and a single rigid parallel series humanoid robot joint, and only driving the joint in the form of parallel connection of actuators, cannot truly reflect the motion characteristics of human joint muscles

Method used

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  • Humanoid robot based on pneumatics
  • Humanoid robot based on pneumatics
  • Humanoid robot based on pneumatics

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] A pneumatic-based humanoid robot comprising:

[0048] Waist joint 2, upper limb joints 1 that are mirror images of each other are arranged on both sides of waist joint 2, and lower limb joints 3 that are mirror images of each other are arranged on both sides of the lower part, and the upper part of the chest connecting piece 16 of waist joint 2 can be rotatably connected to neck vertebra 3 64 in turn , neck vertebra 2 63, neck vertebra 1 62, head 61;

[0049] Both sides below the chest connector 16 are respectively fixedly connected connecting plate one 4 and connecting plate four 17, and connecting plate one 4 is respectively rotatably connected with pneumatic muscle one 5, middle pole one 6, pneumatic muscle two 7, pneumatic muscle three 8, and pneumatic muscle two. Muscle 1 5, pneumatic muscle 2 7, and pneumatic muscle 3 8 are respec...

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Abstract

The invention relates to a humanoid robot based on pneumatics. The humanoid robot uses pneumatic muscles to simulate human muscles to drive knee joints, ankle joints, waist joints, neck joints, shoulder joints, elbow joints and wrist joints to move, and has the function of completely simulating human joint movement. The humanoid robot based on pneumatics is mainly composed of pneumatic claws, belt wheels, vertebrae, the pneumatic muscles, connecting pieces and a joint control system. A waist joint assembly is formed by connecting two layers of pneumatic muscle parallel platforms connected in series in parallel, and the shoulder joint is a spherical hinge composed of a pneumatic motor and a universal joint and provided with an active element and is combined with the pneumatic muscles to drive the joint. The elbow joints and the knee joints are driven by a group of flexible redundancy parallel connection composed of eight pneumatic muscles, the wrist joints and the ankle joints are driven by parallel connection pneumatic muscles, and the hip joints are driven by belt wheels driven by the pneumatic motors. The humanoid robot is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pneumatic-based humanoid robot with compact structure, good flexibility and various pneumatic muscle states. Background technique [0002] Soft robot is a new type of soft robot, which can adapt to various unstructured environments, and can flexibly bend and twist. Even if it is impacted by the outside world, it will not produce a large collision or impact. hotspots. [0003] At present, most soft robots are designed to imitate various creatures in nature. Pneumatic muscles have the characteristics of isobaric, isotonic, and isometric due to their similar characteristics to human muscles; With carbon dioxide, the pneumatic muscle moves by controlling the inflation and deflation of the pneumatic valve, so the pneumatic muscle can be better used in the design of soft robots. [0004] CN110936367B, application number: 201911082363.3, application date: 2019-11-07, discloses a pneu...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/1075B25J17/0208
Inventor 李心雨姜飞龙曹坚钱苏翔胡红生杨琴张海军汪斌朱海滨程树群李伟荣何琳章璇董睿伊光武陈军委刘睿莹杨德山欧阳青宋玉来钱承殷小亮赵伟陈晟周丽朱荷蕾许聚武杨立娜沈剑英崔文华刘亿尹弟敖康
Owner JIAXING UNIV
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