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Bionic robot based on pneumatic muscles

A bionic robot and pneumatic muscle technology, applied in the field of robotics, to achieve the effect of compact structure, high power/mass ratio, and good flexibility

Active Publication Date: 2021-07-23
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

proposed that pneumatic muscles act as antagonists to drive joints, but a set of antagonistic pneumatic muscles only drives the motion of a single joint

Method used

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  • Bionic robot based on pneumatic muscles
  • Bionic robot based on pneumatic muscles
  • Bionic robot based on pneumatic muscles

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0043] A bionic robot based on pneumatic muscles, comprising: a waist joint 3, a head joint 2 is arranged on the upper part of the waist joint 3, upper limb joint 1 and upper limb joint 2 1-2 are respectively arranged on both sides, and lower limb joint 1 is respectively arranged on the lower part 4-1 and lower limb joint 2 4-2, upper limb joint 1 and upper limb joint 2 1-2 have the same structure and are mirror images of each other, lower limb joint 1 4-1 and lower limb joint 2 4-2 have the same structure and are mutual mirror images ;

[0044] Sternum 5 of lumbar joint 3, vertebra 1 6, vertebra 2 7, vertebra 3 8, vertebra 4 9, vertebra 5 10, vertebra 6 11, vertebra 7 12, vertebra 8 13, vertebra 9 14, vertebra 10 15, vertebra 11 16. The pelvis 22 can be rotatably connected in sequence, the fourth vertebra 9 is fixedly connected to the first r...

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Abstract

The invention relates to a bionic robot based on pneumatic muscles. The pneumatic muscles are used for simulating human muscles to drive shoulder joints, elbow joints, wrist joints, a waist joint, hip joints, knee joints and ankle joints to move, and the function of completely simulating human joint movement is achieved. The bionic robot is mainly composed of sternum, vertebrae, ribs, pelvis, femur, fibula, connecting pieces, belt wheels, belts, bevel gears, the pneumatic muscles and control systems. The two groups of pneumatic muscles are driven in the form of antagonistic muscles, are transmitted through the belt wheels, the belts and the bevel gears, and simultaneously drive the shoulder joints, the elbow joints and the wrist joints to rotate. A plurality of groups of pneumatic muscles which are connected in series, in parallel and in series-parallel connection respectively start from the sternum or the pelvis and end at the ribs in the form of the outer layer, the middle layer and the inner layer. The robot is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and multiple in freedom degree, and can be used for teaching demonstration, medical diagnosis and athlete exercise training.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic robot based on pneumatic muscles with compact structure, good flexibility and many degrees of freedom. Background technique [0002] Due to the soft robot's good compliance, if it collides with the outside world in the process of moving in a complex environment, it will avoid rigid damage due to its own good compliance. Pneumatic muscles have many applications in the field of soft robots due to their good compliance. [0003] Biomimetic robot is an important research field in the field of robotics. In the process of designing robots, the advantages of biology are often absorbed for design, and these advantages of biology have evolved for thousands of years to adapt to the external environment. [0004] In the prior art, it is proposed to arrange long, medium, and short aerodynamic muscles between the ribs, sternum, and pelvis, but the human lumbar joint muscles are intri...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/10B25J17/00
CPCB25J9/0006B25J9/1075B25J17/00
Inventor 姜飞龙曹坚胡红生周振峰程树群崔文华朱海滨汪斌张海军朱耀东钱书翔刘春元殷小亮陈晟周丽何琳章璇朱荷蕾许聚武董睿伊光武刘睿莹杨琴欧阳青宋玉来杨立娜沈剑英戴婷杨德山李伟荣钱承陈军委敖康李心雨刘亿尹弟
Owner JIAXING UNIV
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