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Bionic robot, system and method based on series-parallel hybrid pneumatic muscles and air cylinders

A bionic robot and pneumatic muscle technology, applied in the field of bionic robots, can solve the problems of small movement range of pneumatic muscles and large cylinder stiffness.

Active Publication Date: 2022-05-10
YUNNAN COLLEGE OF BUSINESS MANAGEMENT
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002] As a pneumatic component, the cylinder has a large linear displacement. As a pneumatic component, the pneumatic muscle has the advantage of good flexibility, but the rigidity of the cylinder is too large, and the range of motion of the pneumatic muscle is too small. the robot

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  • Bionic robot, system and method based on series-parallel hybrid pneumatic muscles and air cylinders
  • Bionic robot, system and method based on series-parallel hybrid pneumatic muscles and air cylinders
  • Bionic robot, system and method based on series-parallel hybrid pneumatic muscles and air cylinders

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Embodiment 1

[0042] Embodiment 1: as figure 1 , 2 , 3, 4, 5, 6, 7, and 8, the bionic robot based on serial-parallel hybrid pneumatic muscles and cylinders of the present invention includes: upper limb joint system 1, waist joint system 2, lower limb joint system 3, left lower limb 3- 1. Right lower limb 3-2, upper end plate of lumbar joint 4, lower end plate of lumbar joint 5, upper middle module 6-1, middle middle module 6-2, lower middle module 6-3, waist joint pneumatic muscle one 7-1, Lumbar joint pneumatic muscle two 7-2, waist joint pneumatic muscle three 7-3, waist joint pneumatic muscle four 7-4, branch connection module one 8-1, branch connection module two 8-2, branch connection module three 8-3, branch connection module four 8-4, waist joint cylinder one 9-1, waist joint cylinder two 9-2, waist joint cylinder three 9-3, waist joint cylinder four 9-4, waist joint upper layer 10- 1. The middle layer of the waist joint 10-2, the lower layer of the waist joint 10-3, the first int...

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Abstract

The invention discloses a bionic robot, system and method based on series-parallel pneumatic muscles and air cylinders, the pneumatic muscle air cylinders drive a waist joint, a hip joint, a knee joint, an ankle joint, a shoulder joint, an elbow joint and a wrist joint to move, and the bionic robot has the function of completely simulating joint movement of a person. The waist joint upper layer, the waist joint middle layer and the waist joint lower layer are composed of four pneumatic muscles which are connected front, back, left and right, and the waist joint upper layer, the waist joint middle layer and the waist joint lower layer are connected in parallel through four air cylinders. The hip joint is jointly driven by two parallel air cylinders and two pneumatic muscles connected with the waist joint and the shank, the knee joint is driven by two pneumatic muscles connected with the waist joint and the shank and two pneumatic muscles connected with the thigh and the shank in parallel, and the ankle joint is driven by four pneumatic muscles connected in parallel. And the wrist joint is driven by two groups of big arm pneumatic muscle antagonism muscles. The mechanical arm is driven by the pneumatic muscles and the air cylinders and has the advantages of being rigid and flexible, high in bearing capacity and large in motion space.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a bionic robot, system and method based on serial-parallel hybrid pneumatic muscles and cylinders. Background technique [0002] As a pneumatic component, the cylinder has a large linear displacement. As a pneumatic component, the pneumatic muscle has the advantage of good flexibility, but the rigidity of the cylinder is too large, and the range of motion of the pneumatic muscle is too small. robot. [0003] The serial robot has the advantages of large movement space, simple structure, and simple control, while the parallel robot has the advantages of strong bearing capacity, high rigidity, and high precision. The advantages of serial robots are the disadvantages of parallel robots, and vice versa. In order to give full play to the advantages of both, it is necessary to develop a series-parallel hybrid robot. Contents of the invention [0004] The purpose of the present inventi...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/10B25J9/14B25J17/02B62D57/032
CPCB25J11/00B62D57/032B25J9/1075B25J9/102B25J9/14B25J17/0283
Inventor 李庆伟
Owner YUNNAN COLLEGE OF BUSINESS MANAGEMENT
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