CN104942791B - Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator - Google Patents
Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator Download PDFInfo
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- CN104942791B CN104942791B CN201510332488.2A CN201510332488A CN104942791B CN 104942791 B CN104942791 B CN 104942791B CN 201510332488 A CN201510332488 A CN 201510332488A CN 104942791 B CN104942791 B CN 104942791B
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 79
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 210000003811 finger Anatomy 0.000 claims description 93
- 210000001145 finger joint Anatomy 0.000 claims description 42
- 210000003797 carpal joint Anatomy 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 29
- 210000000323 shoulder joint Anatomy 0.000 claims description 17
- 210000002310 elbow joint Anatomy 0.000 claims description 15
- 210000004247 hand Anatomy 0.000 claims description 14
- 210000000707 wrist Anatomy 0.000 claims description 13
- 210000003813 thumb Anatomy 0.000 claims description 10
- 210000004932 little finger Anatomy 0.000 claims description 6
- 210000005224 forefinger Anatomy 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 210000000236 metacarpal bone Anatomy 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention relates to a rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator. The manipulator has the basic bionic function and has the advantages of being dexterous, safe, small in size, large in force weight ratio, easy to manufacture, capable of saving energy, environmentally friendly and mild. According to the technical scheme, the rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator is characterized by comprising a manipulator mechanism, an artificial muscle system for providing power for the manipulator mechanism, a rope pulling system for transmitting power to the manipulator mechanism, and a gas loop control system for controlling the artificial muscle system to act.
Description
Technical field
The present invention relates to bionic mechanical hand technical field, and in particular to it is how free that a kind of wire saws and pneumatic muscles drive
Degree bionic mechanical hand.
Background technology
Traditional mechanical hand, its type of drive are mostly motor, hydraulic-driven, and usual degree of freedom is less, volume is larger, stupid
Weight, and do not possess compliance, these defects make its range of application narrower.
It is with the continuous development of electronic technology and robot bionic, more next for the research of pneumatic muscles bionic mechanical hand
It is more universal.Pneumatic muscles bionic mechanical hand has the advantages that light weight, dexterity so as to obtained extensively in fields such as medical science, services
Application, be technology development direction.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of above-mentioned background technology, there is provided a kind of multiple degrees of freedom bionic mechanical hand, should
Mechanical hand has bionical basic function, with dexterity, safety, small volume, power anharmonic ratio be big, easily manufacture, energy-saving and environmental protection, submissive
The characteristics of.
Present invention employs technical scheme below：The multiple degrees of freedom bionic mechanical that a kind of wire saws and pneumatic muscles drive
Handss, it is characterised in that：The artificial-muscle system of power is provided including manipulator mechanism, for manipulator mechanism, is imparted power to
The pneumatic circuit control system of the wire saws system and control artificial-muscle system acting of manipulator mechanism；
The manipulator mechanism includes that one end is movably positioned on fixed support, the other end and Hooke's hinge one connection
Mechanical upper arm that runing rest is connected with shoulder joint, by elbow joint movably position mechanically the mechanical underarm of arm,
By carpal joint one and carpal joint two be movably positioned at mechanical underarm handss component and movably parallel connection be positioned at handss
Five fingers on the palm of component；
The artificial-muscle system includes the first pneumatic muscles, the second pneumatic muscles for driving mechanical upper arm, drives machinery
3rd pneumatic muscles of underarm, drive carpal joint one, one group of the 4th pneumatic muscles of two, five fingers of carpal joint；
The wire saws system includes being respectively used to draw runing rest, carpal joint one, carpal joint two and five finger fortune
Dynamic some ropes.
Preferably, one end of the runing rest is movably positioned on fixed support by bearing, the shoulder joint
Section and Hooke's hinge one are fixed together, and the other end of runing rest is movably positioned at by Hooke's hinge one；The machinery
One end connection shoulder joint of upper arm, the other end are rotatably coupled elbow joint by Hooke's hinge two.
Preferably, one end of first pneumatic muscles is rotatably positioned on fixed support, other end connecting rope
Son, drives the rotating pulley of runing rest by the traction of rope, makes runing rest realize one degree of freedom around pulley axis
Rotation；One end of second pneumatic muscles is positioned on the disk 42-1 of runing rest, and the other end is by driving Hooke's hinge
One come realize shoulder joint and mechanical upper arm before and after bend and stretch and left and right is taken down the exhibits the motion of two degree of freedom.
Preferably, one end of the mechanical underarm is fixed on elbow joint, the other end passes through carpal joint one and carpal joint
Two connection palms；Described 4th pneumatic muscles one end is rotatably positioned in one end of muscle fixed mount, other end connection rope,
In the motion of two degree of freedom of lifting up and down for drawing the left rotation and right rotation and carpal joint two of realizing carpal joint one of rope.
Preferably, one end of the 3rd pneumatic muscles is rotatably positioned in shoulder joint, the other end passes through Hooke
Hinge two drives elbow joint, realizes the motion stretched with two degree of freedom of left rotation and right rotation in front and back of elbow joint.
Preferably, the palm is rotationally connected with support base by carpal joint axle two, support base passes through carpal joint
Axle one is rotatably positioned in wrist.
Preferably, thumb, forefinger, middle finger, the third finger in five fingers and each freedom of little finger of toe several finger joints
Be hinged to be formed by finger axle, and each finger by the finger axle one of root, rotationally parallel connection is hinged on palm, it is same
In finger, the axis of finger axle one is vertical with the axis of other finger axles；
In five fingers, the axis of the finger axle one of thumb is parallel with the top and bottom of palm, the other fingers of thumb
The plane that axle axis is located with palm top and bottom is vertical.
Preferably, in two hinged ends of the finger joint, a pulley is fixed in one of hinged end；On each pulley
Winding one is by hauling block and then orders about the rope that finger joint is moved, and the two ends of the rope are each passed through the seal wire in each finger joint
After the shape disk of reel, palm wire guide, wrist and muscle fixed mount on hole, palm again respectively with corresponding 4th gas
One end connection of dynamic muscle, to realize the bionic movement of every finger three degree of freedom.
Preferably, the middle finger joint of every finger and the coupling of remote finger joint, the sister block of middle finger joint one end and remote finger joint one end
Remote pulley by rope draw, when sister block is rotatable around its axis, under the traction of rope, remote pulley can also be produced accordingly
Rotation.
Preferably, there are two shape disks on described muscle fixed mount, on two shape disks, there is one group of aperture,
Aperture on one of disk is used for positioning the 4th pneumatic muscles, and the aperture on another disk is used as the pilot hole of rope.
The present invention operation principle be：When different amounts of air is filled with pneumatic circuit, each pneumatic muscles produce different
Axial tension so that there is corresponding moving in each joint of arm.The motion of Shou Ge mechanisms is to pull rope by pneumatic muscles,
Under the traction of rope, band movable pulley makes wrist and each finger produce bionic movement.Therefore, by controlling in pneumatic muscles
Pressure is realizing the motion of each mechanism of mechanical hand, then through the fuzzy tuning of PID, constantly regulate, mechanical hand is reached preferably
Kinestate.
The invention has the beneficial effects as follows：Using pneumatic muscles, simple parallel institution, pneumatic circuit control system, rope leads
Draw the bionic movement that system realizes human arm and handss.In addition the bionic mechanical hand has many degree of freedom, light weight, driver
The advantages of power anharmonic ratio is larger, submissive, end effector is dexterous, range of movement is big, these cause its versatility stronger, Ke Yi
The fields such as bionical, rehabilitation, service, industry are employed.
Description of the drawings
Fig. 1 is overall dimensional structure diagram of the invention；
Fig. 2 is the dimensional structure diagram one of the part body of the present invention；
Fig. 3 is the dimensional structure diagram two of the part body of the present invention；
Fig. 4 is the dimensional structure diagram three of the part body of the present invention；
Fig. 5 is the dimensional structure diagram one of handss component in the present invention；
Fig. 6 is the dimensional structure diagram two of handss component in the present invention；
Fig. 7 is the dimensional structure diagram of finger in the present invention；
Fig. 8 is the power transmission relationship schematic diagram of handss component in the present invention；
Fig. 9 is the pneumatic circuit control system schematic diagram of the present invention；
Figure 10 is the control flow chart of the present invention.
In figure：1. fixed support, 2. the first pneumatic muscles, 3. runing rest, 4. the second pneumatic muscles, 5. Hooke's hinge one,
6. shoulder joint, 7. the 3rd pneumatic muscles, 8. mechanical upper arm, 9. Hooke's hinge two, 10. elbow joint, 11. mechanical forearms, 12. muscle are solid
Determine frame, 13. the 4th pneumatic muscles, 14. wrists, 15. support bases, 16. carpal joint one, 17. carpal joint two, 18. handss components, 19.
Palm, 20. reels, 21. thumbs, 22. forefingers, 23. middle fingers, 24. third fingers, 25. little fingers of toe, 26. carpal joint axles two, 27. wrists
Joint shaft one, 28. pulleys, 29. finger faggings, 30. metacarpal bone pulleys, 31. finger axles one, 32. finger metacarpal bone finger joints, 33. fingers
Axle two, 34. bearings, 35. nearly pulleys, 36. nearly finger joints, 37. middle finger joints, 38. sister blocks, 39. remote pulleys, 40. remote finger joints, 41.
Rotating pulley, 42. rotary shafts, 42-1. disks, 43 ropes, 44. rope guiding holes, 45. rope holes, 46. pilot holes, 47 compressed air source units,
48. pneumatic triple pieces, 49. electromagnetic valves, 50. proportional pressure valves, 51. pressure transducers, 52. pneumatic muscles, 53. angle sensors
Device, 54. joints, 55. data collecting cards, 56. computers, 57. jointed shafts.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
Pneumatic artificial muscle of the present invention as novel robot and mechanical hand driver each field application in
There are very big potentiality.Pneumatic muscles have high bio-imitability, allow it to be attached to machinery the characteristics of its simple structure, small volume
In the structure of handss；The performance that its compactness is high, intensity is big, power anharmonic ratio is big allows its motion as biological muscles to joint
One power is provided；It makes its volume expand to produce pulling force by the effect of air, and this makes mechanical hand have safety
And compliance, while using air as medium, being conducive to energy-conservation and environmental protection.So, it is possible to use pneumatic muscles are directly driving
Or drive indirectly the motion of mechanical hand.
As shown in figure 1, the present invention is including manipulator mechanism, the artificial-muscle system of driving manipulator mechanism motion, to people
Work musculature carries out gas transmission so as to control the pneumatic circuit control system of artificial-muscle system acting, by artificial-muscle system
The power of system passes to the wire saws system of manipulator mechanism.
In manipulator mechanism：Mechanical upper arm 8 is positioned directly in shoulder joint 6 by jointed shaft 57, and mechanical underarm 11 passes through
Elbow joint 10 is movably positioned on mechanically arm 8, and handss component 18 is movably fixed by carpal joint 1, carpal joint 2 17
On mechanical underarm, handss component includes palm 19, thumb, forefinger, middle finger, the third finger and little finger of toe, and five fingers are movably for position
Parallel connection is positioned on palm 19.
Fixed support 1 is connected with runing rest 3 by rotary shaft 42；Runing rest passes through one 5 phase of rotary shaft and Hooke's hinge
Even；Shoulder joint and Hooke's hinge one are fixed, and mechanical upper arm is directly connected with shoulder joint by jointed shaft, mechanical upper arm it is another
End is rotatably coupled elbow joint by Hooke's hinge two；One end of mechanical underarm is fixed on elbow joint, and the other end is closed by wrist
Section one and wrist 14 connect, and wrist 14 passes through wrist axis 1 and support base 15 connects；Palm is rotatable by wrist axis 2 26
Ground and carpal joint two connect.
Five finger structures are identical, and each freedom several finger joints are hinged to be formed by finger axle, and each finger is logical
Rotationally parallel connection is hinged on palm to cross the finger axle 1 of root.By taking little finger of toe as an example (referring to Fig. 7)：Finger metacarpal bone finger joint
32nd, the remote finger joint of the nearly finger joint 36 of finger, finger middle finger joint 37, finger 40 is hinged by 2 33 mutual diameter parallel of finger axle respectively
It is integrated, these axis (these finger axle axis of thumb are vertical with palmar aspect) also parallel with palmar aspect, wherein being hinged finger
The axis of the finger axle 1 of metacarpal bone finger joint and finger fagging is perpendicular to axis (the thumb handss at this for being hinged other finger joint finger axles
The diameter parallel of spindle is in palmar aspect), finger fagging 29 is fixed on palm.
As seen from Figure 7：One end of finger fagging is hinged with one end of finger metacarpal bone finger joint 32 by finger axle one
(wherein between finger fagging and finger axle one be equipped with bearing 34, the fixed metacarpal bone pulley 30 in one midpoint of finger axle, its axis and
With the axis coaxle of finger axle one), it is possible to achieve the left-right rotation of whole finger, make adjacent two piece finger that there is gripping
Function.
One end of finger metacarpal bone finger joint is hinged (wherein finger metacarpal bone by one end of the nearly finger joint of finger axle 2 33 and finger 36
Between finger joint and finger axle two be equipped with bearing, the fixed nearly pulley 35 in hinged end of the nearly finger joint of finger, the axis of nearly pulley and this
Locate the axis coaxle of finger axle two),.
One end that finger closely refers to is hinged (the wherein nearly finger joint of finger and handss by finger axle two and one end of finger middle finger joint 37
Equipped with bearing between spindle two, the fixed sister block 38 in hinged end of finger middle finger joint, the axis and finger axle two of sister block
Axis coaxle).
One end of finger middle finger joint is hinged (wherein finger middle finger joint and finger axle by the remote finger joint of finger axle two and finger 40
Bearing, the remote pulley 39 of the fixed finger in hinged end of the remote finger joint of finger, the axis and finger axle two of the remote pulley of finger are housed between two
Axis coaxle).
In the pneumatic muscles system：Two parallel 2 one end of the first pneumatic muscles are actively positioned on fixed support,
Traction of the other end by rope, pulley 41 is rotated makes runing rest 3 rotate around its axis, wherein rotating pulley
The axis coaxle being fixed in rotary shaft 42, with rotary shaft；One end of four the second parallel pneumatic muscles 4 is positioned at rotation
On frame, the other end directly drives the motion of bending and stretching and take down the exhibits of shoulder joint and mechanical upper arm by driving Hooke's hinge one.Four parallel
7 one end of the 3rd pneumatic muscles be rotatably mounted in shoulder joint, the other end by Hooke's hinge 29 directly drive elbow joint and
Mechanical underarm bends and stretches and rotary motion；Four parallel 13 one end of the 4th pneumatic muscles are rotatably positioned in muscle fixed mount
Shape disk on, other end connection rope, by the traction of rope, drive carpal joint one left rotation and right rotation and carpal joint two it is upper
Motion is stretched in lower lift, while the motion of five fingers is also to pull fetch driving between rope by 30 the 4th pneumatic muscles.
Fig. 8 represents the annexation of little finger of toe and four ropes 43：Every rope one pulley of correspondence is drawn；Per root rope
The two ends of son are sequentially passed through after the rope guiding hole 44 of each finger joint further around the directive wheel 20 on palm, through palm rope hole 45 and lead
Draw carpal rope through wrist 14 reach muscle fixed mount shape disk on pilot hole 46 (i.e. aperture) after, finally with accordingly
The connection of the 4th pneumatic muscles, wherein the remote finger joint and middle finger joint of every finger are easily coupled in motion, so sharing a pair the
Four pneumatic muscles drive remote pulley by sister block, so as to realize the motion in remote joint under the traction of rope driving indirectly.
Fig. 9 is shown pneumatic circuit control system, by compressed air source unit 47, pneumatic triple piece 48, electromagnetic valve 49, ratio pressure
Power valve 50, pressure transducer 51, pneumatic muscles 52, angular transducer 53, joint 54, data collecting card 55, computer 56 are constituted.
VB software programming programs are utilized on computers, are added the fuzzy tuning control of pid parameter, are set up controlling interface, be input into pneumatic
The operational order of muscle bionic mechanical hand, the D/A mouths by data collecting card and I/O mouths difference electromagnetic valve for adjusting, ratio pressure
Valve, by the air decrement for controlling each pneumatic muscles of air-channel system, so as to realize the motion in each joint.While pressure transducer
In detection pneumatic muscles, the situation of pressure, angular transducer detect the anglec of rotation in joint, and the analogue signal for being detected is fed back
To data collecting card, change through A/D, the fuzzy tuning of PID is input to controlling interface, after multiple regulation, each joint
Preferable kinestate is reached, it is achieved thereby that the bionic movement of mechanical hand.
The course of work of the present invention is as follows：
Assembly manipulator mechanism, connects air-path control system, switches on power, and opens compressed air source unit, and gas is through pneumatic three
Connection part, electromagnetic valve, reach proportional pressure valve.
Using VB softwares, PID controller, editor control interface will be data collecting card and computer logical with USB line connection
Letter, through D/A mouths, respectively to electromagnetic valve, proportional pressure valve voltage signal, controls the flow of gas in gas circuit, and then adjusts each
The internal pressure of pneumatic muscles, pneumatic muscles realize the motion of each mechanism by rope, driving pulley rotation.Pressure is passed simultaneously
The analogue signal for collecting is fed back to data collecting card by sensor, angular transducer, through A/D conversions, the fuzzy tuning of PID
Afterwards, the motion of each mechanism of mechanical hand is adjusted again, so as to reach preferable kinestate.
Require that wherein shoulder joint is driven by three pairs of pneumatic muscles according to the space motion location of bionic mechanical hand, elbow joint,
Carpal joint is driven by two pairs of pneumatic muscles respectively, and each finger is driven by three pairs of pneumatic muscles respectively.When being filled with pneumatic muscles
During the air of different pressures, each joint can produce corresponding rotation.Remote control module is added in the controls, can also be real
The distant control of existing mechanical hand.
Finally it should be noted that listed above is only specific embodiment of the invention.It is clear that the invention is not restricted to
Above example, can also have many variations.One of ordinary skill in the art can be directly led from present disclosure
The all deformations for going out or associating, are considered as protection scope of the present invention.
Claims (9)
1. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive, it is characterised in that：Including manipulator mechanism,
Artificial-muscle system, the wire saws system for imparting power to manipulator mechanism and the control of power are provided for manipulator mechanism
The pneumatic circuit control system of artificial-muscle system acting；
The manipulator mechanism includes that one end is movably positioned on fixed support (1), and the other end and Hooke's hinge one (5) connect
Runing rest (3), the mechanical upper arm (8) being connected with shoulder joint (6), machinery is movably positioned at by elbow joint (10)
The mechanical underarm (11) of upper arm, the handss group that mechanical underarm is movably positioned at by carpal joint one (16) and carpal joint two (17)
Part (18) and movably parallel connection are positioned at five fingers on the palm (19) of handss component；
The artificial-muscle system includes the first pneumatic muscles (2), the second pneumatic muscles (4) for driving mechanical upper arm, driving machine
3rd pneumatic muscles (7) of tool underarm, drive carpal joint one (16), one group the 4th of two (17), five fingers of carpal joint it is pneumatic
Muscle (13)；
The wire saws system includes being respectively used to draw runing rest, carpal joint one, carpal joint two and five finger motions
Some ropes (43)；
One end of the runing rest (3) is movably positioned on fixed support (1) by bearing, the shoulder joint (6) and
Hooke's hinge one (5) is fixed together, and the other end of runing rest is movably positioned at by Hooke's hinge one (5)；The machine
One end connection shoulder joint (6) of tool upper arm (8), the other end are rotatably coupled elbow joint (10) by Hooke's hinge two (9).
2. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 1 and pneumatic muscles drive, its feature
It is：One end of first pneumatic muscles is rotatably positioned on fixed support, other end connection rope, by rope
Draw to drive the rotating pulley (41) of runing rest (3), make runing rest that the rotation of one degree of freedom is realized around pulley axis；
One end of second pneumatic muscles is positioned on the disk (42-1) of runing rest, and the other end is by driving Hooke's hinge one come real
The motion for bending and stretching two degree of freedom of taking down the exhibits with left and right in front and back of existing shoulder joint and mechanical upper arm.
3. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 2 and pneumatic muscles drive, its feature
It is：One end of the mechanical underarm is fixed on elbow joint, and the other end passes through carpal joint one and carpal joint two connects palm；Institute
State the 4th pneumatic muscles one end to be rotatably positioned in one end of muscle fixed mount (12), other end connection rope, in rope
Draw the motion of two degree of freedom of lifting up and down of the left rotation and right rotation and carpal joint two for realizing carpal joint one.
4. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 3 and pneumatic muscles drive, its feature
It is：One end of 3rd pneumatic muscles is rotatably positioned in shoulder joint, and the other end drives elbow to close by Hooke's hinge two
Section, realizes the motion stretched with two degree of freedom of left rotation and right rotation in front and back of elbow joint.
5. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 4 and pneumatic muscles drive, its feature
It is：The palm (19) is rotationally connected with support base (15) by carpal joint axle two (26), and support base passes through carpal joint
Axle one (27) is rotatably positioned in wrist (14).
6. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 5 and pneumatic muscles drive, its feature
It is：Thumb (21), forefinger (22), middle finger (23), nameless (24) and little finger of toe (25) in five fingers is if each free
A dry finger joint is hinged to be formed by finger axle, and each finger by the finger axle one (31) of root, rotationally parallel connection is hinged on
On palm, in same finger, the axis of finger axle one (31) is vertical with the axis of other finger axles；
In five fingers, the axis of the finger axle one (31) of thumb is parallel with the top and bottom of palm, the other fingers of thumb
The plane that axle axis is located with palm top and bottom is vertical.
7. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 6 and pneumatic muscles drive, its feature
It is：In two hinged ends of the finger joint, a pulley is fixed in one of hinged end；One is wound on each pulley by leading
Draw pulley and then order about the rope of finger joint motion, the two ends of the rope are each passed through on the thread eye in each finger joint (44), palm
Reel (20), palm wire guide (45), after the shape disk of wrist and muscle fixed mount again respectively with corresponding 4th gas
One end connection of dynamic muscle, to realize the bionic movement of every finger three degree of freedom.
8. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 7 and pneumatic muscles drive, its feature
It is：The middle finger joint (37) of every finger and remote finger joint (40) coupling, the sister block (38) of middle finger joint one end and remote finger joint one end
Remote pulley (39) by rope draw, when sister block is rotatable around its axis, under the traction of rope, remote pulley can also be produced
It is corresponding to rotate.
9. the multiple degrees of freedom bionic mechanical hand that a kind of wire saws according to claim 8 and pneumatic muscles drive, its feature
It is：There are two shape disks on described muscle fixed mount, have one group of aperture on two shape disks, on one of disk
Aperture be used for position the 4th pneumatic muscles, the aperture on another disk is used as the pilot hole (46) of rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510332488.2A CN104942791B (en) | 2015-06-16 | 2015-06-16 | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator |
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| CN201510332488.2A CN104942791B (en) | 2015-06-16 | 2015-06-16 | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator |
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| CN109109001A (en) * | 2018-07-25 | 2019-01-01 | 宁波市智能制造产业研究院 | A kind of manipulator restoring magic square |
| CN108990879B (en) * | 2018-08-15 | 2021-04-13 | 山东商业职业技术学院 | Device is supported temporarily to fresh and alive aquatic products |
| CN109785723B (en) * | 2019-03-11 | 2021-03-16 | 贵阳市第四人民医院 | Simple elbow joint biomechanics experiment system |
| CN110549355B (en) * | 2019-07-29 | 2021-06-11 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| CN111300385B (en) * | 2020-04-01 | 2021-08-06 | 大连理工大学 | Multi-degree-of-freedom continuous robot with function of flexibly grabbing target |
| CN111546326B (en) * | 2020-05-22 | 2021-03-09 | 嘉兴学院 | Based on cylinder and pneumatic muscle humanoid robot system |
| US11872152B2 (en) | 2020-07-17 | 2024-01-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Appendage pressurization devices comprising artificial muscles |
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| US20050121929A1 (en) * | 2002-03-25 | 2005-06-09 | Richard Greenhill | Humanoid robotics |
| GB0421820D0 (en) * | 2004-10-01 | 2004-11-03 | Shadow Robot Company The Ltd | Artificial hand/forearm arrangements |
| CN101817181B (en) * | 2010-04-16 | 2011-09-28 | 浙江理工大学 | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles |
| CN102126210B (en) * | 2011-03-22 | 2012-07-11 | 浙江理工大学 | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm |
| CN104589310B (en) * | 2014-12-29 | 2016-08-24 | 浙江理工大学 | A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle |
| CN204725487U (en) * | 2015-06-16 | 2015-10-28 | 浙江理工大学 | The multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive |
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2015
- 2015-06-16 CN CN201510332488.2A patent/CN104942791B/en not_active Expired - Fee Related
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