256 results about "Bionics" patented technology

The invention discloses an unhooking robot control method and system based on depth visual recognition, and relates to the field of visual recognition, and the method comprises the steps: obtaining an original optical signal and ambient light intensity, carrying out the dynamic focusing of the original optical signal, generating a target pose sequence according to a frequency domain fusion algorithm and a gradient maximization positioning algorithm, and carrying out the dynamic focusing of the original optical signal; meanwhile, the environment light intensity is substituted into adjacent frame pose difference, and a real-time speed vector is obtained; performing modeling on the target pose sequence and the real-time velocity vector by adopting neuromorphic space-time motion to obtain a predicted trajectory of a dynamic coupling target body and a space-time constraint domain of an end effector of the robot; a bionics principle is adopted to simulate a biological motion coordination mechanism, a target motion track and mechanical arm dynamic constraint are jointly described, and the limitation that track prediction and mechanical arm motion ability are disjointed in traditional isolated modeling is broken through.

The invention belongs to the field of industrial automation, and provides a system based on multi-mode perception and intelligent regulation and control. By integrating various sensors on the robot and applying technologies such as multi-modal sensing fusion, bionics, real-time feedback, multi-source data fusion, reinforcement learning and block chains, accurate grabbing and sorting of food materials, dynamic regulation and control of parameters in the processing process, online quality monitoring, multi-robot collaborative scheduling and quality tracing are achieved. The invention aims to solve the problems of difficult material grabbing, inflexible parameter regulation and control, inaccurate quality monitoring and the like in food processing, improve the automation and intelligence level of the food processing industry, and meet the production requirements of high efficiency, safety and high quality.

The invention relates to the technical field of software architecture design, and discloses a software architecture design method based on intelligent bionic implementation of a large model group. The method comprises the steps of obtaining software design requirement input; performing multi-level semantic analysis on software design requirement input to generate an initial component set and context environment description; based on the context environment description, candidate component knowledge related to the initial component set is retrieved from a distributed knowledge base; performing consistency verification on the candidate component knowledge and the initial component set by utilizing a dynamic inference engine to generate a verified component map; according to the verified component atlas, candidate software architectures are generated through an architecture template matching algorithm; and performing iterative adjustment on the candidate software architecture by adopting an optimization strategy, and outputting a target software architecture design. Through collaborative analysis and intelligent reasoning of the large model group, automation and intelligence of software architecture design are achieved, and the efficiency and quality of software design are improved.

The invention is suitable for the technical field of hovercar control, and provides a thermal-vibration-weight collaborative optimization method of a high-power-density hovercar controller, and the method comprises the steps: constructing a three-dimensional housing structure based on fractal mechanics, achieving 35-45% of weight reduction through bionic design, and remarkably reducing the weight while guaranteeing the structural strength; thermal management, electromagnetic compatibility and vibration suppression collaborative optimization layout is established, a high-heating-power module is arranged near a heat dissipation air opening, and a sensitive control unit is arranged in a center damping area of a shell; a gradient material distribution scheme is adopted, a high-heat-conduction composite material is configured in a high-heat-flow area, and a high-damping material is adopted in a vibration sensitive area. Under the high-power working condition, the heat dissipation performance of the controller is improved, vibration transmission is reduced, the overall weight is reduced, and high-reliability control hardware support is provided for the hovercar.

The utility model relates to the technical field of biomedical engineering bionics, and discloses a miniature annular transformer winding jig which comprises a base assembly, a sliding rail assembly, a sliding block assembly, a winding adjusting assembly and a follow-up assembly, the sliding rail assembly is arranged on the base assembly in a sliding mode, the sliding block assembly is connected to the sliding rail assembly in a sliding mode, and the winding adjusting assembly is arranged on the follow-up assembly. The winding adjusting assembly is arranged on the sliding block assembly, the follow-up assembly is arranged on the sliding rail assembly, a containing opening for containing a magnetic ring is formed between the winding adjusting assembly and the follow-up assembly, and the device achieves the purposes that winding pressure can be adjusted, the winding visual angle can be adjusted, the winding angle can be adjusted, the lengths of primary and secondary reserved wires can be adjusted, and enameled wires can be wound in a lossless mode. And winding of the miniature ring transformers of different specifications can be achieved by replacing the winding adjusting assembly, meanwhile, one-time fixing and one-time winding are achieved, the winding time and cost are saved, the winding difficulty is reduced, and the winding success rate is increased.

The invention discloses an air-ground amphibious cross-country robot based on humanoid bionics, and relates to the technical field of cross-country robots and bionic robots. The invention aims to solve the problems that existing traditional wheel type and foot type robots are limited in movement in complex terrains such as mountainous regions and jungles, and the cross-terrain cross-country ability is insufficient in an extreme environment. The robot comprises a fuselage assembly, two bionic walking assemblies and four foldable flying arm assemblies, the four foldable flying arm assemblies are symmetrically arranged on the upper portion of the fuselage assembly, and the two bionic walking assemblies are symmetrically arranged on the lower portion of the fuselage assembly; in the flight mode, the foldable flight machine arm assembly is unfolded for vector flight, and the bionic walking assembly is retracted; in the walking mode, the foldable flying machine arm assemblies are folded and adjust the posture in a self-adaptive mode, and the bionic walking assemblies stretch to walk. The robot is used for cross-country tasks of complex terrains, can flexibly act in a complex environment by combining air and ground cross-country capabilities, and is beneficial to improving the success rate and efficiency of the cross-country tasks.

The invention relates to the technical field of continuum robot control, in particular to an under-actuated active and passive cooperative control device for a continuum robot. The two sections of mechanical arms are connected in a staggered mode to form two sections of continuous mechanical arms moving independently, each mechanical arm is provided with a plurality of bending units which are sequentially connected in the same position, the pre-tightening compensation mechanism is installed on the core body in the circumferential direction, the under-actuated control mechanism is installed on the installation disc, and the first rope is connected with the mechanical arms and the rope fixing plate; one end of the second rope is connected with the mechanical arm, and the other end of the second rope sequentially penetrates through the mechanical arm, the pre-tightening compensation mechanism and the first positioning wheel assembly and then is connected with the rope fixing plate to form a tension compensation loop for the first rope. The two-section continuum structural design is adopted, kinematics dimension reduction is achieved, and the multi-direction bending capacity can be achieved in a narrow space through bionic optimization. A combined type pre-tightening mechanism with a spring and a pulley combined is adopted, rope deformation is passively compensated through an elastic element, and dynamic tension maintaining is achieved.

The invention provides a memristor based on a quasi 2D / 3D heterojunction perovskite and a preparation method and application of the memristor. The invention belongs to the technical field of memristors. In the memristor, a three-dimensional (3D) (FAPbI3) 0.95 (MAPbBr3) 0.05 perovskite thin film and a CF3-PEAI quasi-two-dimensional perovskite thin film are prepared by adopting a spin coating method and are used as functional layers of the memristor. The device has a stable I-V cycle characteristic, not only can realize a stable conductivity adjustable characteristic under positive and negative voltages, but also can accurately simulate a recognition task of a handwritten data set by utilizing the device and linear updating for enhancing and inhibiting a conductivity weight, and the accuracy rate can reach 94%. The invention aims to provide the perovskite memristor with a novel structure so as to meet the requirements of efficient neural synaptic bionic and brain-like computing system construction.

The invention discloses a modular self-adaptive robot device based on SMA driving paper folding bionics. The modular self-adaptive robot device is composed of peak folding rods, valley folding rods, SMA wires, a magnetic attraction connecting structure and a 3D printing bottom plate, and self-adaptive operation is achieved through driving-sensing-structure integrated cooperation. The SMA wires have driving and sensing functions, structural deformation is driven through PWM, resistance change of the structural deformation is measured in real time, and axial telescoping, radial telescoping and bending of the module can be controlled in a closed-loop mode without an external sensor. The device is combined based on the lever amplification principle, tiny deformation of the SMA wire is efficiently converted into large-stroke output of a mechanism, and the problem that the stroke of an SMA driver is limited is solved. A single module has three modes of radial expansion, linear actuation and torsion joint, and complex movement can be completed through combination. A plurality of modules are connected in series with a quick connecting piece through magnetic attraction, and the functions of bionic wriggling, rod cable climbing or multi-section operation arm can be achieved through time sequence programming. And a flexible and reconfigurable robot solution is provided for detection and rescue tasks in a complex environment.

The invention discloses a multi-vortex system space energy evolution process analysis method, belongs to the field of fluid mechanics and aerodynamics, and aims to solve the problem of energy analysis errors caused by integral radius dependence and single-vortex hypothesis limitation in a traditional method. According to the method, a vortex core is positioned through a Liutex method, a vortex to be analyzed is translated to an original point, a pseudo time sequence is generated in combination with evolution direction slices, and a first modal energy distribution and evolution law is extracted through eigen-orthogonal modal decomposition. According to the method, the integral radius does not need to be manually set, the adaptability is high, the vortex global energy space change process can be comprehensively reflected, the method is particularly suitable for energy evolution analysis in complex vortex system scenes such as bird flight and complex aircraft wake flow, a brand new view angle is provided for vortex energy evolution, and the method has certain engineering practical value. The method can be used for quantitative analysis of complex vortex field scenes such as aircraft design, biological bionics and wind energy engineering, and has important engineering application value.

The present application relates to the technical field of speech processing, and particularly relates to a mixed speech processing method, an electronic device and a computer readable medium. The method comprises the following steps: collecting mixed speech and environmental influence parameters; performing bionics frequency domain analysis on the mixed speech to obtain low-frequency attenuation compensation feature data; performing multipath effect propagation analysis on the low-frequency attenuation compensation feature data through the environmental influence parameters to generate channel distortion data; performing time domain-frequency domain joint deconvolution processing on the mixed speech by using the channel distortion data to generate direct sound components and reflected sound components; performing adversarial training based on the direct sound components and the reflected sound components to generate anti-multipath speech enhancement data; and constructing a dynamic frequency compensation filter based on preset environmental acoustic characteristics. The present application improves the output quality of mixed speech through multi-stage signal processing, frequency compensation and real-time optimization technology.

The invention discloses a control method, and the method comprises the steps: collecting the data of a centroid state and an MPC optimal ground acting force in a plurality of motion states of a robot, designing a full-connection residual network, taking the centroid state information as the input, taking the ground acting force as the output, and designing a loss function based on priority. Upper and lower bounds of a friction cone and a sole reaction force are constrained, and the network is trained offline to fit MPC optimization quantity, so that an efficient mode of online reasoning is realized; the joint angle and the angular velocity are fused with the action at the previous moment, the centroid linear velocity and the angular velocity and the foot-ground acting force fitted through a residual network, a bionic reference trajectory is generated through a human motion public data set, different weights are given to a reward function group according to a dominant function value obtained through calculation, and the control performance is improved; symmetrical loss constraint is added to lower limb movement, and the algorithm convergence speed is increased. And finally, training to obtain a whole-body control strategy based on model priori knowledge and a human motion reference trajectory.

A bionic pedaling and jumping foot of a lunar surface jumping robot belongs to the technical field of engineering bionics, and comprises a sole component, three bionic toes and a bionic toe tip, the sole assembly is provided with a leg connecting piece and a plurality of through cavities; the bionic toes are connected with the sole assembly through first metatarsophalangeal joints to form axial symmetry distribution, the included angle between every two adjacent toes is 20 degrees, and each bionic toe is provided with a bionic toe cavity. The tail end of the bionic toe tip is provided with a bionic foot thorn, and the bionic toe tip is connected with the bionic toe through a second metatarsophalangeal joint; the rigid rope penetrates through the sole cavity and the bionic toe cavity, one end of the rigid rope is connected with the leg bouncing mechanism, and the other end of the rigid rope is fixed to the round rod of the bionic toe tip. Foot end joints are kept in a relaxed posture by torsion springs in a natural state; the rigid rope pulls the tension spring to store energy and is locked by the ratchet mechanism, and the toes are synchronously driven to contract to form a sand grabbing and fixing state; during starting, the motor drives the ratchet wheel to release energy, the tension spring contracts to realize pedaling action, and the torsion spring synergistically releases energy to enhance jumping performance. A high-adaptability foot end solution is provided for the celestial body exploration robot, and the trafficability and movement stability of complex terrains are effectively improved.

The invention relates to the technical field of aquaculture, in particular to a bionic young salamander breeding method, which remarkably improves the stress resistance of young salamanders on the premise of guaranteeing the survival rate through the synergistic effect of a dynamic environment simulation system, sectional bionic feed and staged environment challenge training. The dynamic environment simulation system regulates and controls multi-parameter dynamic change based on a fuzzy PID algorithm; the bionic feed adopts a segmented nutrition design and is combined with an intestinal targeted embedding technology; according to the environment challenge training, gradient gradual temperature fluctuation (+ / -0.5 DEG C to + / -1.5 DEG C), water flow disturbance (0.05 m / s to 0.15 m / s) and water quality fluctuation (turbidity is 5-15 NTU, pH is 6.8-7.2 oscillation) are matched with a nutrient enrichment and intelligent early warning system, and the stress resistance is directionally improved. A solution with ecological property and stress resistance is provided for large-scale breeding of the young salamanders.

The present invention is an amphibious detection snake based on bionics. The present invention relates to the technical field of amphibious detection snakes. The present invention is mainly composed of an STM32F103ZET6 single-chip microcomputer main control component, a MIPI camera, an ESP8266WIFI module, a universal wheel, a servo, etc. The present invention can automatically switch between land mode and water mode according to changes in the external environment. When in land mode, the driving motor is driven by the main control component, and the rotation of the servo between the snake joints drives the universal wheel to generate forward rotational power, thereby realizing two-dimensional forward movement. When in water mode, the propeller automatically pops up, and multi-dimensional movement can be realized quickly. The camera detects real-time images in the water and transmits data to the remote control terminal according to the serial communication protocol. Based on the bionic principle, the present invention imitates the movement posture of the snake during movement to have better camouflage, and can realize reconnaissance and detection in a variety of environments.

The invention discloses a modular reconfigurable bionic wheel-legged robot which deeply integrates bionics, a dynamic ad hoc network and a multi-modal motion control technology and has all-terrain self-adaption and multi-modal motion capabilities. According to the technical scheme for solving the technical problems, the modular reconfigurable bionic wheel-leg type robot comprises a plurality of single modules which are connected with one another, and each single module comprises a trunk module, a front end connecting arm and a wheel-leg composite motion module; the trunk module comprises a frame, a main control unit, a battery bin and a sensor array are integrated in the frame, and a conical protrusion is arranged in the frame. A clamping jaw is arranged at the end part of the front-end connecting arm, and is matched with the conical bulge to realize rigid connection between the adjacent single modules; the wheel-leg composite motion modules comprise hip joint modules, thigh joint modules, shank joint modules and wheel-foot modules, the wheel-foot modules can advance in a wheel-type mode or a foot-type mode, and the two wheel-leg composite motion modules are arranged on the two sides of the trunk module respectively.

The invention discloses an intelligent electric pole based on bionics, and relates to the technical field of power transmission and transformation facilities. The carbon fiber cloth strip spirally surrounds the electric pole main body and is provided with a through hole; the ends of the shape memory wires penetrate through the through holes of the adjacent carbon fiber cloth strips and are fixed; the strain sensing mechanism is arranged on the carbon fiber cloth strip and is a piezoelectric effect device; the energy storage module is electrically connected to the strain sensing mechanism; the data transmission module is electrically connected to the strain sensing mechanism and the energy storage module; the plurality of carbon fiber cloth strips are provided with joint lines which alternately bypass the front and back surfaces to be connected side by side, and each carbon fiber cloth strip is provided with a plurality of through holes which are arranged along the length direction of the carbon fiber cloth strip; the strain sensing mechanism comprises a plurality of piezoelectric effect elements. The anti-damage electric pole has the effects of improving the anti-damage capability of the electric pole in long-term use and reducing the reinforcing and repairing expenditure.

The embodiment of the application provides a kind of to be applied to green low-carbon campus intelligent bionic insect device and its control method and manufacturing method, it is related to bionics and environmental protection popular science technical field.The device includes: support seat;Bionic main body is prepared by campus waste after remolding or 3D printing process;Illumination module;Zero carbon energy storage power supply module, including mechanical power supply unit, it includes: rocker, transmission assembly and generator;Rocker passes through transmission assembly and is converted into electric energy output by mechanical kinetic energy transmission to generator;Intelligent control module is connected with illumination module, for obtaining environmental parameter, and according to environmental parameter dynamic adjustment the switch state, brightness level and light color output of illumination module;Low-carbon interactive education module is connected with zero carbon energy storage power supply unit, for recycling campus waste and display total carbon emission reduction amount.The embodiment of the application provides a kind of novel intelligent bionic insect device that is integrated material circulation, energy self-sufficiency, intelligent regulation and control and interactive education.

The invention relates to the technical field of vehicle engineering, and discloses an off-road command military vehicle light-weight rear support which comprises a main base used for being connected with a vehicle body; the mounting platform is used for bearing equipment; the space truss structure serves as a main force bearing frame, and the two ends of the space truss structure are connected with the main base and the mounting platform correspondingly; wherein the space truss structure is composed of rod pieces, and the rod pieces are distributed in a non-uniform arrangement mode. The non-uniform arrangement of the rods is generated based on a topological optimization algorithm. The topological optimization algorithm aims at achieving structural mass minimization under the constraint of the off-road load spectrum. In the space truss structure, connecting nodes are formed at the intersections of a plurality of rod pieces, and the connecting nodes and the rod pieces connected with the connecting nodes are manufactured through an integrated forming process. Through a topological optimization algorithm based on an actually measured off-road load spectrum, a bionic non-uniform space truss structure is driven to be generated, so that materials are only distributed on an efficient force transmission path, and redundant mass is eliminated from the source.

The invention relates to the technical field of rehabilitation medical robots, and particularly provides a joint angle vector generation method and a gait control method.The generation method comprises the steps that a first gait phase and multi-sensor data at the current moment are obtained; the first gait phase is the gait phase of the lower limb exoskeleton robot at the previous moment, and the multi-sensor data comprises multi-modal motion data and visual data; predicting a second gait phase according to the first gait phase and the multi-modal motion data; the second gait phase is the gait phase of the lower limb exoskeleton robot at the current moment; adjusting a reference joint angle vector and a time scaling factor of a self-adaptive joint angle vector generator of which the weight is optimized in advance according to the visual data, and then generating an expected joint angle vector according to the second gait phase by utilizing the adjusted self-adaptive joint angle vector generator; according to the method, the joint angle vector which adapts to the current environment and is high in gait bionic performance can be generated.

1. Name of the designed product: Robot (ant bionics). 2. Use of the designed product: For artificial intelligence robots. 3. Design points of the designed product: In shape. 4. Pictures or photos that best show the design points: Perspective view.

The application discloses a kind of bionics proton exchange membrane fuel cell based on snowflake structure, including bipolar plate, bipolar plate includes the flow field on by 4 flow channel modules combination, each flow channel module includes serpentine channel with import and export, 4 flow channel modules on serpentine channel are sequentially connected to constitute bionic flow channel, flow channel is full in bipolar plate, and then the import of serpentine channel on the first flow channel module forms flow channel entrance, and the export of serpentine channel on the last flow channel module forms flow channel exit.The bionic flow channel of the device has good pressure drop, can make gas distribution uniform, improve the flow smoothness of flow channel, beneficial to discharge liquid water.

The present application relates to photovoltaic module technical field, disclose a kind of photovoltaic support bionics wind-resistant structure suitable for slope terrain, it includes support mechanism and angle adjusting mechanism, support mechanism includes fixed plate and at least two support leg assemblies, fixed plate is fixedly connected with photovoltaic panel, support leg assembly one end is connected with fixed plate, the other end is fixedly connected with rotating member;Angle adjusting mechanism includes installation base, locking ring and sliding locking assembly, rotating member is rotationally configured with installation base to adjust the inclination angle of photovoltaic panel, locking ring is fixed on rotating member and is provided with positioning portion, sliding locking assembly is slidably arranged on installation base, and it includes connected operation member and locking member, operation member drives locking member to slide to first position, and locking member is inserted with positioning portion to lock rotating member, slide to second position, to allow rotating member to rotate when disengaging.The present application uses sliding bolt type locking structure, convenient operation, locking reliable, can adapt to slope terrain and improve wind resistance stability.

The application relates to the field of aircraft technology and discloses a bionic flapping-wing aircraft with foldable wings, which has a folded-wing state and an unfolded-wing state and comprises a fuselage, flapping-wing assemblies, a driving assembly, a wing folding assembly, a spherical pair of links I and a spherical pair of links II. The number of the flapping-wing assemblies is two, and the flapping-wing assemblies are symmetrically arranged on the two sides of the fuselage. The flapping-wing assembly has a first link and a second link, the first link and the second link are hinged, the flapping-wing assembly performs flapping-wing action through the cooperation and movement of the first link and the second link, the driving assembly is fixed to the fuselage, the driving assembly is in transmission connection with the flapping-wing assembly, and the driving assembly is used for driving the flapping-wing assembly to perform reciprocating movement. The bionic flapping-wing aircraft with foldable wings has the characteristics of realizing instantaneous folding and unfolding of wings, good maneuverability, few driving elements and high bionics, and is suitable for target indication, communication relay, disaster rescue, biochemical environment detection and battlefield detection and other civil and military fields.

The present application relates to a kind of serpentine coiling bionic control system and method and system, belong to industrial automation control technical field, system includes controller, network communication transmission unit, executing mechanism, feedback element and man-machine interaction module;The controller is built-in serpentine coiling algorithm curve calculation module, for receiving feedback data, executing trajectory planning calculation and outputting control instruction;The network transmission unit uses redundant network system, realizes the transmission communication of data;The executing mechanism includes servo motor and variable frequency motor, servo motor and variable frequency motor are closed loop cooperation by controller to realize the rotation speed-axial displacement;The feedback element is in real time by multiple sensors Feedback working condition parameter;The man-machine interaction module: for parameter setting, working condition monitoring and fault alarm.The present application realizes efficient, uniform, non-interference, low stress coiling operation by serpentine coiling bionics.

The present invention discloses a multimodal bionic tactile perception method and system based on a bionic tactile finger. The method comprises: obtaining a charge signal generated by the bionic tactile finger, preprocessing the charge signal to obtain a piezoelectric digital signal; obtaining an image sequence captured by the bionic tactile finger, performing signal processing on the image sequence to obtain a visual tactile signal; fusing the piezoelectric digital signal and the visual tactile signal to obtain a spatiotemporal tactile signal, and performing surface three-dimensional reconstruction and spectrum analysis on the spatiotemporal tactile signal to obtain multimodal tactile information. Based on the bionic characteristics of the finger, the present invention integrates piezoelectric sensors and visual tactile sensors to design a bionic tactile finger. Data fusion is performed in the temporal and spatial dimensions to achieve multimodal tactile perception capabilities. Through structural and functional bionics, the robot's tactile sense acquires the ability to recognize and locate different vibration stimuli in different time and space.

The invention discloses a bionic circular dichroism optical encryption device based on a tiger structure, and the device comprises a first substrate, a first conductive layer, a first electrode patch, an information encryption layer, a second conductive layer, a second electrode patch, and a second substrate. Wherein the information encryption layer adopts a double-layer Z-shaped structure design to simulate a tiger function, an upper layer fixing structure corresponds to a left half tiger of a palm tube, and a lower layer dynamic rotating structure corresponds to a right half tiger held by a user. A ciphertext transmission system is constructed by regulating and controlling three key parameters of an inclination angle, a rotation angle and an electromagnetic wave incidence angle of the lower layer structure, and steganography information can be accurately decrypted by using a specific CD key only when the three key parameters meet preset matching conditions at the same time. According to the invention, the dynamic adjustable circular dichroism (CD) is innovatively realized, and an optical security system for information encryption is constructed through the bionic design of key matching.

The bionic eye device comprises a base, a rotating seat, an eyeball, a first driving module and a second driving module, the rotating seat is rotationally connected to the base, the eyeball is hinged to the rotating seat, and the center of the eyeball coincides with the rotating center of the rotating seat, so that in the process that the rotating seat rotates around the rotating center, the eyeball can be driven to rotate around the center of the eyeball; the first driving module drives the rotating seat to rotate so as to drive the eyeballs to rotate in the left-right direction, the second driving module is connected with the eyeballs and can directly drive the eyeballs to rotate in the up-down direction, and eye bionics are achieved. Therefore, the first driving module and the second driving module can be more compact, the space occupancy rate of the first driving module and the second driving module is reduced, the size of the bionic eye device is reduced, and convenience is provided for installation of the bionic eye device on the head of the robot.

The application discloses a novel human-simulating flexible parallel wrist joint with redundant driving, and has the characteristics that the joint comprises a moving platform (1), an intermediate branch chain (2), a first driving branch chain (3-1), a second driving branch chain (3-2), a third driving branch chain (3-2) and a base (4). The application is based on bionics and bionically designs the bony structure and muscle system of a human wrist joint, adopts a rope driving mode, has a high stiffness bearing ratio, is driven redundantly and has good human-machine interaction performance. The joint can be pulled by three motors through external ropes, converts the rotation of the motors into the movement of the ropes through a movable pulley, realizes 2-DOF (degree of freedom) movement, and is suitable for occasions such as the end wrist joint of an industrial robot, a human-simulating arm wrist joint and an intelligent prosthesis.