CN107717961A - A kind of human emulated robot based on cylinder - Google Patents
A kind of human emulated robot based on cylinder Download PDFInfo
- Publication number
- CN107717961A CN107717961A CN201711099824.9A CN201711099824A CN107717961A CN 107717961 A CN107717961 A CN 107717961A CN 201711099824 A CN201711099824 A CN 201711099824A CN 107717961 A CN107717961 A CN 107717961A
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- joint
- cylinder
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- fixed plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses a kind of human emulated robot based on cylinder, and the waist joint and quadruped locomotion of people are simulated using cylinder as driving element, has the function that simulation people moves completely.Described human emulated robot is mainly made up of cylinder, fixed plate, femur, fibula, humerus, has 44 frees degree；The waist joint wherein simulated has 12 frees degree, hip joint, knee joint, the ankle-joint of simulation lower limb have 3,2,2 frees degree respectively, the shoulder joint of simulation upper limbs, elbow joint, wrist joint have 3,1,4 frees degree respectively, and one degree of freedom is added between shoulder joint and elbow joint.Patent of the present invention is driven with cylinder, has the characteristics of multiple degrees of freedom, cleaning, good explosion-proof performance, available for fields such as teaching demonstration, exhibition exhibition, welcome, the crawl of station part and carryings.
Description
Technical field
The invention belongs to bio-robot technical field, more particularly to a kind of human emulated robot based on cylinder.
Background technology
Relative maturity, cylinder are used as Jie to the anthropomorphic robot using motor as power source using the source of the gas cleaned at present
Matter, pulling force and pressure can be provided simultaneously, and cylinder is widely used in industrial circle, and it is as executive component
Joint of robot can have rotation and the mobile free degree simultaneously, will be greatly increased with the robot free degree of its driving,
Increase scope and the space of its work simultaneously, there will be more wide application prospect in robot field.Cylinder drives at present
Dynamic human emulated robot research is substantially at space state.
The content of the invention
The purpose of the present invention is to be directed to the studies above present situation, there is provided one kind is based on cylinder human emulated robot, the present invention
The free degree is more, clean, explosion-proof etc..
To achieve these goals, the present invention adopts the technical scheme that：
A kind of human emulated robot based on cylinder, it is characterised in that the robot includes left arm, right arm, waist, left leg
With right leg；
Described waist includes waist joint first layer fixed plate 1, waist joint first layer cylinder 1, waist joint first layer gas
Cylinder 23, waist joint first layer cylinder 34, waist joint first layer cylinder 45, waist joint first layer cylinder 56, waist joint first
Layer cylinder 67, waist joint second layer fixed plate 8, waist joint second layer cylinder 1, waist joint second layer cylinder 2 10, waist joint
Second layer cylinder 3 11, waist joint second layer cylinder 4 12, waist joint second layer cylinder 5 13, waist joint second layer cylinder six
14th, waist joint third layer fixed plate 15, described waist joint first layer cylinder 1, waist joint first layer cylinder 23, waist joint
First layer cylinder 34, waist joint first layer cylinder 45, waist joint first layer cylinder 56, the two of waist joint first layer cylinder 67
End is respectively rotatably connected with described waist joint first layer fixed plate 1, waist joint second layer fixed plate 8, drives waist joint
First layer fixed plate 1, waist joint second layer fixed plate 8 simulate the shifting of receipts in the waist joint of people, abduction, ring turn and vertical direction
It is dynamic；Described waist joint second layer cylinder 1, waist joint second layer cylinder 2 10, waist joint second layer cylinder 3 11, waist joint
Second layer cylinder 4 12, waist joint second layer cylinder 5 13, waist joint second layer cylinder 6 14 both ends respectively with it is described
Waist joint second layer fixed plate 8, waist joint third layer fixed plate 15 are rotatably connected, driving waist joint second layer fixed plate 8, waist
Joint third layer fixed plate 15 simulates the movement of receipts in the waist joint of people, abduction, ring turn and vertical direction；
Described left leg includes hip joint air cylinder fixed plate 16, hip joint cylinder 1, hip joint cylinder 2 18, femur
19th, hip joint cylinder 3 20, knee joint cylinder 1, knee joint cylinder 2 22, ankle-joint cylinder 1, fibula 24, ankle-joint
Cylinder 2 25, ankle-joint cylinder 3 26, pin 27,
One end of described femur 19 is rotatably connected with described hip joint air cylinder fixed plate 16；Described hip joint gas
Cylinder 1, hip joint cylinder 2 18, the both ends of hip joint cylinder 3 20 respectively with described hip joint air cylinder fixed plate 16, femur
19 are rotatably connected, and receipts, abduction, ring turn in driving femur 19；
Described knee joint cylinder 1, the both ends of knee joint cylinder 2 22 respectively with described femur 19, fibula 24
One end is rotatably connected, and driving fibula 24 bends and stretches, taken down the exhibits；The other end of described fibula 24 rotatably connects with described pin 27
Connect, described ankle-joint cylinder 1, ankle-joint cylinder 2 25, the both ends of ankle-joint cylinder 3 26 respectively with described fibula 24
One end, described pin 27 be rotatably connected, receipts, abduction, ring turn in driving pin 27；
Described right leg is arranged symmetrically with described left leg, and the Nomenclature Composition and Structure of Complexes is identical；
Described left arm includes shoulder joint cylinder connection piece 28, shoulder joint displacements of cylinders 1, shoulder joint displacements of cylinders 2 30, shoulder joint
Cylinder 3 31, shoulder joint displacements of cylinders 4 32, shoulder joint displacements of cylinders terminal connector 33, elbow joint cylinder 1, elbow joint cylinder 2 35,
Elbow joint cylinder 3 36, humerus 37, wrist joint air cylinder fixed plate 1, wrist joint cylinder 1, wrist joint cylinder 2 40, wrist close
Displacements of cylinders 3 41, wrist joint air cylinder fixed plate 2 42,
Described shoulder joint displacements of cylinders 1, shoulder joint displacements of cylinders 2 30, shoulder joint displacements of cylinders 3 31, the two of shoulder joint displacements of cylinders 4 32
End is respectively rotatably connected with described shoulder joint cylinder connection piece 28 and shoulder joint displacements of cylinders terminal connector 33, drives shoulder joint
Displacements of cylinders terminal connector 33 bends and stretches, taken down the exhibits；One end of described humerus 37 and described shoulder joint displacements of cylinders terminal connector 33,
The other end is rotatably connected with described wrist joint air cylinder fixed plate 1, the described both ends of elbow joint cylinder 1 respectively with institute
The shoulder joint displacements of cylinders terminal connector 33 stated, wrist joint air cylinder fixed plate 1 are rotatably connected；Described elbow joint cylinder two
35 both ends are rotatably connected with described shoulder joint displacements of cylinders terminal connector 33, humerus 37 respectively, described elbow joint cylinder
3 36 both ends are rotatably connected with described humerus 37, wrist joint air cylinder fixed plate 1 respectively；Described elbow joint cylinder
One 34 drive humerus 37 to be taken down the exhibits motion relative to shoulder joint displacements of cylinders terminal connector 33 together with elbow joint cylinder 2 35, elbow joint
Cylinder 1 drives wrist joint air cylinder fixed plate 1 to be taken down the exhibits motion relative to humerus 37 together with elbow joint cylinder 3 36.
The both ends of described wrist joint cylinder 1, wrist joint cylinder 2 40 and wrist joint cylinder 3 41 respectively with it is described
Wrist joint air cylinder fixed plate 1, wrist joint air cylinder fixed plate 2 42 is rotatably connected；
Described right arm is symmetrical arranged with described left arm, and the Nomenclature Composition and Structure of Complexes is identical；
Described waist joint first layer fixed plate 1 is rotatably connected with described shoulder joint cylinder connection piece 28, described
Waist joint third layer fixed plate 15 is rotatably connected with described hip joint air cylinder fixed plate 16.
Further, described cylinder is hydraulic cylinder or electric cylinders.
Further, the control mode that described cylinder is combined by pressure sensor with pneumatic operated valve, described is pneumatic
Valve is proportional pressure valve or high-speed switch valve.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the present invention using series, parallel, series-parallel connection pneumatically as executive component, drive waist joint, hip joint, knee joint,
Ankle-joint, shoulder joint, elbow joint, wrist joint have 12,3,2,3,3,1,4 frees degree, while shoulder joint and elbow joint respectively
Between increase one degree of freedom.
2. using cylinder as the joint of robot of executive component, while there is rotation and the mobile free degree, greatly increase
The free degree and working space in joint, the human emulated robot of design have 44 frees degree；
3. the cylinder in the present invention can be hydraulic cylinder or electric cylinders, its effect is consistent, and the Collaborative Control of each cylinder causes
Whole human emulated robot has multiple frees degree, can the various actions that can realize of vivid simulation people.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the human emulated robot based on cylinder；
Fig. 2 is the waist joint structure schematic diagram of the human emulated robot based on cylinder；
Fig. 3 is the lower limb structure schematic diagram of the human emulated robot based on cylinder；
Fig. 4 is the Arm structure schematic diagram of the human emulated robot based on cylinder.
In figure：Waist joint first layer fixed plate 1, waist joint first layer cylinder 1, waist joint first layer cylinder 23, Yao Guan
Save first layer cylinder 34, waist joint first layer cylinder 45, waist joint first layer cylinder 56, waist joint first layer cylinder 67,
Waist joint second layer fixed plate 8, waist joint second layer cylinder 1, waist joint second layer cylinder 2 10, waist joint second layer cylinder
3 11, waist joint second layer cylinder 4 12, waist joint second layer cylinder 5 13, waist joint second layer cylinder 6 14, waist joint
Three layers of fixed plate 15, hip joint air cylinder fixed plate 16, hip joint cylinder 1, hip joint cylinder 2 18, femur 19, hip joint gas
Cylinder 3 20, knee joint cylinder 1, knee joint cylinder 2 22, ankle-joint cylinder 1, fibula 24, ankle-joint cylinder 2 25, ankle
Joint cylinder 3 26, pin 27, shoulder joint cylinder connection piece 28, shoulder joint displacements of cylinders 1, shoulder joint displacements of cylinders 2 30, shoulder joint displacements of cylinders
3 31, shoulder joint displacements of cylinders 4 32, shoulder joint displacements of cylinders terminal connector 33, elbow joint cylinder 1, elbow joint cylinder 2 35, elbow close
Displacements of cylinders 3 36, humerus 37, wrist joint air cylinder fixed plate 1, wrist joint cylinder 1, wrist joint cylinder 2 40, wrist joint gas
Cylinder 3 41, wrist joint air cylinder fixed plate 2 42.
Embodiment
As shown in Figure 1,2,3, 4, the human emulated robot of the invention based on cylinder includes waist joint first layer fixed plate
1st, waist joint first layer cylinder 1, waist joint first layer cylinder 23, waist joint first layer cylinder 34, waist joint first layer gas
Cylinder 45, waist joint first layer cylinder 56, waist joint first layer cylinder 67, waist joint second layer fixed plate 8, waist joint second
Layer cylinder 1, waist joint second layer cylinder 2 10, waist joint second layer cylinder 3 11, waist joint second layer cylinder 4 12, Yao Guan
Save second layer cylinder 5 13, waist joint second layer cylinder 6 14, waist joint third layer fixed plate 15, hip joint air cylinder fixed plate
16th, hip joint cylinder 1, hip joint cylinder 2 18, femur 19, hip joint cylinder 3 20, knee joint cylinder 1, knee joint
Cylinder 2 22, ankle-joint cylinder 1, fibula 24, ankle-joint cylinder 2 25, ankle-joint cylinder 3 26, pin 27, shoulder joint displacements of cylinders
Connector 28, shoulder joint displacements of cylinders 1, shoulder joint displacements of cylinders 2 30, shoulder joint displacements of cylinders 3 31, shoulder joint displacements of cylinders 4 32, shoulder joint solar term
Cylinder terminal connector 33, elbow joint cylinder 1, elbow joint cylinder 2 35, elbow joint cylinder 3 36, humerus 37, wrist joint cylinder
Fixed plate 1, wrist joint cylinder 1, wrist joint cylinder 2 40, wrist joint cylinder 3 41, wrist joint air cylinder fixed plate 2 42.
Wherein, waist joint first layer cylinder 1, waist joint first layer cylinder 23, waist joint first layer cylinder 34, Yao Guan
Save first layer cylinder 45, waist joint first layer cylinder 56, the both ends of waist joint first layer cylinder 67 respectively with waist joint first layer
Fixed plate 1, waist joint second layer fixed plate 8 are rotatably connected, and driving waist joint first layer fixed plate 1, the waist joint second layer are consolidated
Fixed board 8 simulates the movement of receipts in the waist joint of people, abduction, ring turn and vertical direction；Same waist joint second layer cylinder 1,
Waist joint second layer cylinder 2 10, waist joint second layer cylinder 3 11, waist joint second layer cylinder 4 12, waist joint second layer gas
Cylinder 5 13, the both ends of waist joint second layer cylinder 6 14 respectively with waist joint second layer fixed plate 8, waist joint third layer fixed plate 15
It is rotatably connected, driving waist joint second layer fixed plate 8, waist joint third layer fixed plate 15, which are simulated in the waist joint of people, to be received, be outer
Exhibition, ring turn and the movement of vertical direction.
Waist joint third layer fixed plate 15 is fixedly connected with hip joint air cylinder fixed plate 16, and femur 19 is consolidated with hip joint cylinder
Fixed board 16 is rotatably connected, hip joint cylinder 1, hip joint cylinder 2 18, the both ends of hip joint cylinder 3 20 respectively with hip joint
Air cylinder fixed plate 16, femur 19 are rotatably connected, and receipts, abduction, ring turn in driving femur 19.Knee joint cylinder 1, knee joint
The both ends of cylinder 2 22 are rotatably connected with femur 19, fibula 24 respectively, and driving fibula 24 bends and stretches, taken down the exhibits.Fibula 24 can with pin 27
Rotation connection, ankle-joint cylinder 1, ankle-joint cylinder 2 25, the both ends of ankle-joint cylinder 3 26 respectively can with fibula 24, pin 27
Rotation connection, the interior receipts of driving pin 27, abduction, ring turn.
Shoulder joint cylinder connection piece 28 is fixedly connected with waist joint first layer fixed plate 1, shoulder joint displacements of cylinders 1, shoulder joint
Cylinder 2 30, shoulder joint displacements of cylinders 3 31, the one end of shoulder joint displacements of cylinders 4 32 and shoulder joint cylinder connection piece 28 are rotatably connected, another
End is rotatably connected with shoulder joint displacements of cylinders terminal connector 33, shoulder joint displacements of cylinders 1, shoulder joint displacements of cylinders 2 30, shoulder joint displacements of cylinders
3 31, shoulder joint displacements of cylinders 4 32 drives shoulder joint displacements of cylinders terminal connector 33 bend and stretch, take down the exhibits.The one end of humerus 37 and shoulder joint displacements of cylinders
Terminal connector 33 is rotatably connected, and the other end is rotatably connected with wrist joint air cylinder fixed plate 1, elbow joint cylinder 1
Both ends are rotatably connected with shoulder joint displacements of cylinders terminal connector 33, wrist joint air cylinder fixed plate 1 respectively, elbow joint cylinder two
35 both ends are rotatably connected with shoulder joint displacements of cylinders terminal connector 33, humerus 37 respectively, the both ends of elbow joint cylinder 3 36 respectively with
Humerus 37, wrist joint air cylinder fixed plate 1 are rotatably connected, and elbow joint cylinder 1 drives together with elbow joint cylinder 2 35
Humerus 37 is taken down the exhibits motion relative to shoulder joint displacements of cylinders terminal connector 33, and elbow joint cylinder 1 is together with elbow joint cylinder 3 36
Driving wrist joint air cylinder fixed plate 1 is taken down the exhibits motion relative to humerus 37.Wrist joint cylinder 1, wrist joint cylinder 2 40, wrist
The both ends of joint cylinder 3 41 are rotatably connected with wrist joint air cylinder fixed plate 1, wrist joint air cylinder fixed plate 2 42 respectively, drive
Dynamic wrist joint air cylinder fixed plate 2 42 is bent and stretched, taken down the exhibits, circumduction.
Two lower limb and two upper limbs are symmetrical, and structure is completely the same.
The control position control of each cylinder is combined using pressure sensor with pneumatic operated valve, and pneumatic operated valve can be ratio pressure
Valve or high-speed switch valve.
The present invention, by controlling the position of each cylinder, the control of anthropomorphic robot pose is realized, can be with the people of dynamic image
Action, and accurate TRAJECTORY CONTROL can be realized, the present invention possesses incomparable excellent of other cylinder human emulated robots
Gesture.
Embodiment described above, the simply present invention more preferably one kind in embodiment, the technology of this area
The usual variations and alternatives that personnel are carried out in the range of technical solution of the present invention should all include within the scope of the present invention.
Claims (3)
- A kind of 1. human emulated robot based on cylinder, it is characterised in that the robot include left arm, right arm, waist, left leg and Right leg；Described waist includes waist joint first layer fixed plate (1), waist joint first layer cylinder one (2), waist joint first layer gas Cylinder two (3), waist joint first layer cylinder three (4), waist joint first layer cylinder four (5), waist joint first layer cylinder five (6), waist Joint first layer cylinder six (7), waist joint second layer fixed plate (8), waist joint second layer cylinder one (9), the waist joint second layer Cylinder two (10), waist joint second layer cylinder three (11), waist joint second layer cylinder four (12), waist joint second layer cylinder five (13), waist joint second layer cylinder six (14), waist joint third layer fixed plate (15), described waist joint first layer cylinder one (2), waist joint first layer cylinder two (3), waist joint first layer cylinder three (4), waist joint first layer cylinder four (5), waist joint First layer cylinder five (6), waist joint first layer cylinder six (7) both ends respectively with described waist joint first layer fixed plate (1), waist joint second layer fixed plate (8) is rotatably connected, and driving waist joint first layer fixed plate (1), the waist joint second layer are consolidated The movement of receipts in the waist joint of fixed board (8) simulation people, abduction, ring turn and vertical direction；Described waist joint second layer cylinder One (9), waist joint second layer cylinder two (10), waist joint second layer cylinder three (11), waist joint second layer cylinder four (12), waist Joint second layer cylinder five (13), the both ends of waist joint second layer cylinder six (14) are respectively consolidated with the described waist joint second layer Fixed board (8), waist joint third layer fixed plate (15) are rotatably connected, driving waist joint second layer fixed plate (8), waist joint the 3rd The movement of receipts in the waist joint of layer fixed plate (15) simulation people, abduction, ring turn and vertical direction；Described left leg includes hip joint air cylinder fixed plate (16), hip joint cylinder one (17), hip joint cylinder two (18), femur (19), hip joint cylinder three (20), knee joint cylinder one (21), knee joint cylinder two (22), ankle-joint cylinder one (23), fibula (24), ankle-joint cylinder two (25), ankle-joint cylinder three (26), pin (27),One end of described femur (19) is rotatably connected with described hip joint air cylinder fixed plate (16)；Described hip joint gas Cylinder one (17), hip joint cylinder two (18), hip joint cylinder three (20) both ends respectively with described hip joint air cylinder fixed plate (16), femur (19) is rotatably connected, and receipts, abduction, ring turn in driving femur (19)；Described knee joint cylinder one (21), knee joint cylinder two (22) both ends respectively with described femur (19), fibula (24) one end is rotatably connected, and driving fibula (24) bends and stretches, taken down the exhibits；The other end of described fibula (24) and described pin (27) it is rotatably connected, described ankle-joint cylinder one (23), ankle-joint cylinder two (25), ankle-joint cylinder three (26) both ends are equal One end with described fibula (24), described pin (27) are rotatably connected respectively, and receipts, abduction, ring turn in driving pin (27)；Described right leg is arranged symmetrically with described left leg, and the Nomenclature Composition and Structure of Complexes is identical；Described left arm includes shoulder joint cylinder connection piece (28), shoulder joint displacements of cylinders one (29), shoulder joint displacements of cylinders two (30), shoulder joint Displacements of cylinders three (31), shoulder joint displacements of cylinders four (32), shoulder joint displacements of cylinders terminal connector (33), elbow joint cylinder one (34), elbow close Displacements of cylinders two (35), elbow joint cylinder three (36), humerus (37), wrist joint air cylinder fixed plate one (38), wrist joint cylinder one (39), wrist joint cylinder two (40), wrist joint cylinder three (41), wrist joint air cylinder fixed plate two (42),Described shoulder joint displacements of cylinders one (29), shoulder joint displacements of cylinders two (30), shoulder joint displacements of cylinders three (31), shoulder joint displacements of cylinders four (32) Both ends be respectively rotatably connected with described shoulder joint cylinder connection piece (28) and shoulder joint displacements of cylinders terminal connector (33), Driving shoulder joint displacements of cylinders terminal connector (33) bends and stretches, taken down the exhibits；One end of described humerus (37) and described shoulder joint displacements of cylinders Terminal connector (33), the other end are rotatably connected with described wrist joint air cylinder fixed plate one (38), described elbow joint gas Cylinder one (34) both ends are rotatable with described shoulder joint displacements of cylinders terminal connector (33), wrist joint air cylinder fixed plate one (38) respectively Connection；The both ends of described elbow joint cylinder two (35) respectively with described shoulder joint displacements of cylinders terminal connector (33), humerus (37) it is rotatably connected, the both ends of described elbow joint cylinder three (36) are consolidated with described humerus (37), wrist joint cylinder respectively Fixed board one (38) is rotatably connected；Described elbow joint cylinder one (34) drives humerus (37) together with elbow joint cylinder two (35) Taken down the exhibits motion relative to shoulder joint displacements of cylinders terminal connector (33), elbow joint cylinder one (34) is together with elbow joint cylinder three (36) Driving wrist joint air cylinder fixed plate one (38) is taken down the exhibits motion relative to humerus (37).The both ends of described wrist joint cylinder one (39), wrist joint cylinder two (40) and wrist joint cylinder three (41) respectively with institute Wrist joint air cylinder fixed plate one (38), the wrist joint air cylinder fixed plate two (42) stated are rotatably connected；Described right arm is symmetrical arranged with described left arm, and the Nomenclature Composition and Structure of Complexes is identical；Described waist joint first layer fixed plate (1) is rotatably connected with described shoulder joint cylinder connection piece (28), described Waist joint third layer fixed plate (15) is rotatably connected with described hip joint air cylinder fixed plate (16).
- 2. cylinder according to claim 1, described cylinder is hydraulic cylinder or electric cylinders.
- 3. the human emulated robot according to claim 1 based on cylinder, described cylinder pass through pressure sensor and gas The control mode that dynamic valve is combined, described pneumatic operated valve are proportional pressure valve or high-speed switch valve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099824.9A CN107717961B (en) | 2017-11-09 | 2017-11-09 | A kind of human emulated robot based on cylinder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099824.9A CN107717961B (en) | 2017-11-09 | 2017-11-09 | A kind of human emulated robot based on cylinder |
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| CN107717961A true CN107717961A (en) | 2018-02-23 |
| CN107717961B CN107717961B (en) | 2019-09-24 |
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| CN201711099824.9A Expired - Fee Related CN107717961B (en) | 2017-11-09 | 2017-11-09 | A kind of human emulated robot based on cylinder |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108453705A (en) * | 2018-03-27 | 2018-08-28 | 嘉兴学院 | A kind of human emulated robot system based on cylinder |
| CN108466286A (en) * | 2018-03-19 | 2018-08-31 | 嘉兴学院 | One kind being based on the multi-direction kinematic robot of cylinder four-footed |
| CN108466256A (en) * | 2018-04-17 | 2018-08-31 | 嘉兴学院 | A kind of human emulated robot system based on pneumatic muscles and cylinder |
| CN108481308A (en) * | 2018-04-04 | 2018-09-04 | 嘉兴学院 | A kind of human emulated robot based on pneumatic muscles Yu cylinder series-parallel connection |
| CN108656100A (en) * | 2018-05-22 | 2018-10-16 | 嘉兴学院 | Human emulated robot based on cylinder |
| CN110434846A (en) * | 2019-07-23 | 2019-11-12 | 嘉兴学院 | It is a kind of based on pneumatic humanoid robot system |
| CN110682305A (en) * | 2019-10-18 | 2020-01-14 | 嘉兴学院 | Humanoid robot system |
| CN111360804A (en) * | 2020-03-27 | 2020-07-03 | 嘉兴学院 | Profiling robot system based on pneumatic muscles and air cylinders |
| CN111618881A (en) * | 2020-06-12 | 2020-09-04 | 嘉兴学院 | Humanoid robot system based on pneumatics |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466286A (en) * | 2018-03-19 | 2018-08-31 | 嘉兴学院 | One kind being based on the multi-direction kinematic robot of cylinder four-footed |
| CN108453705A (en) * | 2018-03-27 | 2018-08-28 | 嘉兴学院 | A kind of human emulated robot system based on cylinder |
| CN108481308B (en) * | 2018-04-04 | 2019-10-15 | 嘉兴学院 | A kind of human emulated robot based on pneumatic muscles Yu cylinder mixed connection |
| CN108481308A (en) * | 2018-04-04 | 2018-09-04 | 嘉兴学院 | A kind of human emulated robot based on pneumatic muscles Yu cylinder series-parallel connection |
| CN108466256A (en) * | 2018-04-17 | 2018-08-31 | 嘉兴学院 | A kind of human emulated robot system based on pneumatic muscles and cylinder |
| CN108466256B (en) * | 2018-04-17 | 2020-02-28 | 嘉兴学院 | Humanoid robot system based on pneumatic muscles and air cylinders |
| CN108656100A (en) * | 2018-05-22 | 2018-10-16 | 嘉兴学院 | Human emulated robot based on cylinder |
| CN108656100B (en) * | 2018-05-22 | 2019-05-03 | 嘉兴学院 | Human emulated robot based on cylinder |
| CN110434846A (en) * | 2019-07-23 | 2019-11-12 | 嘉兴学院 | It is a kind of based on pneumatic humanoid robot system |
| CN110682305A (en) * | 2019-10-18 | 2020-01-14 | 嘉兴学院 | Humanoid robot system |
| CN111360804A (en) * | 2020-03-27 | 2020-07-03 | 嘉兴学院 | Profiling robot system based on pneumatic muscles and air cylinders |
| CN111360804B (en) * | 2020-03-27 | 2021-03-23 | 嘉兴学院 | Profiling robot system based on pneumatic muscles and air cylinders |
| CN111618881A (en) * | 2020-06-12 | 2020-09-04 | 嘉兴学院 | Humanoid robot system based on pneumatics |
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| CN107717961B (en) | 2019-09-24 |
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