The invention relates to a pneumatic
humanoid robot system. The
system adopts an air cylinder to drive the movement of hip joints, knee joints,
foot joints,
waist joints, shoulder joints,
elbow jointsand
wrist joints of a
humanoid robot, and has a function of completely simulating joint movement of a person. The
system is composed of a linear air cylinder, a swinging air cylinder, belt wheels, lead screws, bevel gears, toothed belts, toothed wheels and connecting pieces, the hip joints and the shoulder joints are driven by the swing cylinder through the belt wheels, the knee joints are drivenby the lead screws and the air cylinders in a combination manner, the
foot joints are driven by a plurality of air cylinders, the
elbow joints are driven by the swing cylinder, the
wrist joints are composed of two groups of variable-distance swing parts and an air cylinder parallel mechanism, the hip joints, the knee joints, the
foot joints, the
waist joints, the shoulder joints, and the
elbow joints and the
wrist joints have 2, 1, 4, 6, 2, 1, 4
degrees of freedom correspondingly and a total of 34
degrees of freedom. According to the pneumatic
humanoid robot system, a cylinder and cylinder combination driven are adopted, the system has the characteristics of large
stroke, large
working space and compact structure, and can be used for teaching and demonstration.